Robustness analysis of leader-follower consensus

Abstract

In this paper, robustness properties of the leader-follower consensus are considered. For simplicity of presentation, the attention is focused on a group of continuous-time first-order dynamic agents with a time-invariant communication topology in the presence of communication errors. In order to evaluate the robustness of leader-follower consensus, two robustness measures are proposed: the L 2 gain of the error vector to the state of the network and the worst case L 2 gain at a node. Although the L 2 gain of the error vector to the state of the network is widely used in robust control design and analysis, the worst case L 2 gain at a node is less conservative with respect to the number of n..