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中文摘要：
研究一类具有时延和切换拓扑的不确定多智能体互联系统的分布式协同控制问题，提出一类分布式鲁棒H∞协同控制器．该控制器能够在满足期望的H∞性能指标的前提下，使得所有智能体鲁棒地跟踪虚拟Leader．针对所提出的分布式H∞协同控制器，借助Lyapunov-Krasovskii泛函，利用线性矩阵不等式，推导出一系列充分（必要）条件，并且在通信拓扑连通的前提条件下，给出整个闭环系统的稳定性证明．仿真实例表明了所提出方法的有效性．
英文摘要：
The distributed cooperative control problem for a class of uncertain interconnected multi-agent systems with time-delays and switching topologies is investigated. A distributed robust H∞ cooperative control is proposed to make sure that all agents robustly follow the virtual leader while satisfying the desired H∞ performance. A set of conditions for the proposed distributedH∞ control design are derived in details with the aid of Lyapunov-Krasovskii function and linear matrix inequality methods, and the rigorous stability proof of the overall closed-loop system is given under the assumption that the communication topology is connected. Simulation examples show the effectiveness of the proposed method.
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