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Output consensus control for multi-agent systems in the presence of gap metric uncertainties

Consensus control is studied for discrete-time multi-agent systems involving gap metric uncertainties, aimed at synchronizing all its outputs to the desired trajectories generated by a given reference model. Both distributed robust stabilization and robust consensus are formulated and tackled. Results in this paper include derivation of the explicit conditions on the agent dynamics, on the bound of the gap metric uncertainty, and on the feedback graph, and derivation of the synthesis procedure for designing the distributed robust feed-forward and feedback controllers that achieve robust stability and consensus in the presence of bounded gap metric uncertainties.