Abstract: The H_∞ consensus control method is studied for consensus tracking of leader in multi-agent system under directed switching topology. The consensus tracking problem of leader is transformed into the stability problem of low-dimensional system by using Laplacian matrix with leader. The sufficient conditions satisfying the transient response index are given. Lyapunov function and linear matrix inequality are used to analyze the stability of the system, and the design method of distributed controller and the average dwell time condition are obtained. The proposed method can be used to make the states of the system tend to be identical rapidly with smaller oscillation when the system is affected by random external disturbance. The multi-UAV system was simulated with considering the transient response, and without considering the transient response and external disturbance. The results show that the H_∞ consensus controller considering the transient response can attain the consensus faster and more smoothly than the controller without considering the transient response, which meets the transient response performance index.Key

Key words: multi-agentsystem, directedswitchingtopology, leader, H_∞consensuscontrol, transientresponse, averagedwelltime