Observer and Output Feedback Controller Design for Uncertain Multi-agent Systems with Interval Time Delay and Disturbances

This study designs an observer for network- based distributed multi agent systems with interval time varying delays in the presence of uncertainty and disturbances under a directed graph. A delay interval partitioning method along with convex combination led to less conservative stability. In the presence of uncertainty and disturbances, using H∞ control along with dynamic output feedback controller, robust observer and LMIs (Linear Matrix Inequalities) has led to better results in stability criteria and tracking the reference signal. Numerical examples are given to show the effectiveness of the obtained results.