<mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si11.svg"><mml:mrow><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>?</mml:mi></mml:mrow></mml:msub></mml:mrow></mml:math> delayed tracking protocol design of nonlinear singular multi-agent systems under Markovian switching topology

The consensus tracking of singular multi-agent systems (MASs) with Lipschitz-type nonlinearities and exogenous disturbances is researched in this paper. Governed by a Markov chain, the network interaction randomly switches directed graph set, where spanning tree not contained each while exists union rooting at leader node. By utilizing collection in-neighbors’ information that involves communication delay, intention to design protocol such resultant error system stochastic admissible an H? disturbance attenuation level. Based on algebraic theory, admissibility analysis linear matrix inequality (LMI) technique, consistency first regulated concerned MAS considering case completely known transition probabilities. Then, thanks group free-connection weighting matrices, obtained result extended probabilities are partially known. Finally, theoretical confirmed some numerical examples.