Distributed H∞ tracking control for discrete-time multi-agent systems with a high-dimensional leader

This paper considers the distributed H∞ leader-following tracking problem for a class of discretetime multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only available to designated followers, and the dynamics of the followers are subject to perturbations. To achieve distributed H∞ leader-following tracking, a new class of control protocols is proposed which is based on the feedback from the nearest neighbors as well as a distributed state estimator. Under the assumptions that dynamics of the leader are detectable and the communication topology contains a directed spanning tree, sufficient conditions are obtained that enable all followers to track the leader while achieving a desired H∞ leader-following tracking performance. Numerical simulations illustrate the effectiveness of the theoretical analysis.