Observer-Based Finite-Horizon H∞ Consensus Control of Multi-Agent Systems under Multi-Round-Robin Scheduling

Jiaxin Chen; Yezheng Wang; Fan Wang

doi:10.53941/ic.2026.100003

Abstract

This paper investigates the finite-horizon H∞ consensus problem for time-varying discrete-time multi-agent systems governed by a multi-Round-Robin scheduling protocol. Within a networked communication environment, the multi-Round-Robin protocol is employed to facilitate flexible and scheduled data exchanges among agents. To enhance the system’s robustness against external disturbances, an observer-based cooperative control strategy is developed, utilizing the estimated states from neighboring agents. The primary objective is to design a distributed cooperative controller for each agent to ensure the prescribed H∞ consensus performance over a finite time interval. Sufficient conditions for achieving the desired consensus behavior are derived, and both controller and observer parameters are determined by solving two coupled backward recursive Riccati difference equations. Finally, a numerical example demonstrates the effectiveness of the proposed approach and highlights the superiority of the multi-Round-Robin protocol over the conventional Round-Robin protocol.

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