Distributed H_∞ Consensus Problem for First-Order Multi-Agent Systems with Antagonistic Interactions and Nonconvex Constraints

This paper investigates the distributed H_∞ consensus problem for a first-order multiagent system where both cooperative and antagonistic interactions coexist. In the presence of external disturbances, a distributed control algorithm using local information is addressed and a sufficient condition to get the H_∞ control gain is obtained, which make the states of the agents in the same group converge to a common point while the inputs of each agent are constrained in the nonconvex sets. Finally, a numerical simulation is exhibited to illustrate the theory.