H∞ consensus control for high-order fully actuated multi-agent systems with external disturbances

Qing-Hao Zhang and Jun-Guo Lu

International Journal of Systems Science, 2025, vol. 56, issue 13, 3117-3134

Abstract: This paper addresses the $ H_\infty $ H∞ consensus control problem for high-order fully actuated multi-agent systems subject to external disturbances. Leveraging the unique characteristics of high-order fully actuated systems, distributed control protocols are designed that eliminate nonlinearities in the open-loop dynamics while establishing new closed-loop system behaviours. The $ H_\infty $ H∞ consensus problem is tackled for both undirected and directed communication graphs using the Kronecker product, inequality techniques, and the bounded real lemma. Linear matrix inequalities are employed to derive the design parameters for the control protocols. Additionally, a multi-spacecraft attitude model based on high-order fully actuated systems is proposed. Two illustrative examples are provided, one for an undirected graph and the other for a directed graph, to show the effectiveness and practical application of the proposed approach.

Date: 2025
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DOI: 10.1080/00207721.2025.2492301

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