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Synchronization of nonlinear multi-agent systems under measurement noises and external disturbance

This paper studies the synchronization problem with a guaranteed H∞ performance for nonlinear multiagent systems. It considers a practical situation: the measurement of relative-state is disturbed and each agent has external disturbance. We show that all agents can achieve synchronization in mean square and meanwhile maintain a desirable disturbance rejection performance by a consensus protocol. Numerical simulations are also provided and the results show highly consistent with the theoretical results.