This paper studies the H∞ and H2 almost state synchronization problem for homogeneous multi-agent systems with general linear agents affected by external disturbances and with a directed communication topology. Agents are connected via diffusive full-state coupling or diffusive partial-state coupling. A necessary and sufficient condition is developed for the solvability of the H∞ and H2 almost state synchronization problem. Moreover, a family of protocols based on either an algebraic Riccati equation (ARE) method or a directed eigen structure assignment method are developed such that the impact of disturbances on the network disagreement dynamics, expressed in terms of the H∞ and H2 norm of the corresponding closed-loop transfer function, is reduced to any arbitrarily small value. The protocol for full-state coupling is static, while for partial-state coupling it is dynamic.
- Distributed control
- H-infinity and H-2 almost state synchronization
- Multi-agent systems