中文摘要：

针对部分信息已知且带有干扰的多机器人系统，设计一种新的鲁棒一致性算法，解决多机器人系统输出一致性问题．首先，给出轮式移动机器人系统的运动学模型，根据全局控制与局部控制策略相结合的思想，建立基于多智能体一致行为的数学描述；其次，提出一种合理的鲁棒性能指标，利用H∞鲁棒控制及微分对策方法，设计多机器人系统鲁棒一致性算法．仿真实验验证了上述算法不仅使多个机器人自主达到速度一致，并有效抑制了干扰．

英文摘要：

For a multirobot system subjected to exogenous disturbance and with partial informatlon given, a robust consensus algorithm is developed to solve the output consensus problems. The kinematic model of a differential wheeled mobile robot is presented first. According to the idea of combining global control with local control, the consensus based on a multi-agent system is mathematically described. Then, a reasonable robust performance index is proposed, and utilizing H∞ robust control and differential game theory, a robust consensus algorithm is designed. An example is simulated to demonstrate that the proposed method can guarantee the velocity consensus autonomously for each robot and restrain disturbance.