Distributed Robust 𝐻_∞ Consensus Control of Multiagent Systems with Communication Errors Using Dynamic Output Feedback Protocol

Figure 3

The disagreement states between 𝑥_𝑖 and 𝑥₁ without communication error 𝐝(𝑡), 𝑖=2,3,…,6.

(a) Position states of the 6 agents

(b) Velocity states of the 6 agents