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Distributed H ∞-consensus control of nonlinear multi-agent systems under weighted try-once-discard protocol

In this paper, the -consensus control problem is investigated for a class of nonlinear multi-agent systems with time-varying parameters under Weighted Try-Once Discard (WTOD) protocol. In order to reduce the data collision and improve the transmission efficiency between one agent and its neighbouring agents, the WTOD communication protocol is adopted to regulate the transmission orders of the neighbouring agents. The data transmission between each agent and its neighbouring agents is implemented via a constrained communication channel where only one neighbouring agent is allowed to transmit data at each time instant. The purpose of this paper is to design an effective control scheme such that, under the WTOD communication protocol, the prespecified -consensus performance is achieved. Sufficient conditions are established for the existence of the desired controller in which the controller parameters are obtained by solving the linear matrix inequalities. Finally, a numerical simulation example is provided to illustrate the effectiveness of the theoretical results.