研究一类具有时延和切换拓扑的不确定多智能体互联系统的分布式协同控制问题,提出一类分布式鲁棒H∞协同控制器.该控制器能够在满足期望的H∞性能指标的前提下,使得所有智能体鲁棒地跟踪虚拟Leader.针对所提出的分布式H∞协同控制器,借助Lyapunov-Krasovskii泛函,利用线性矩阵不等式,推导出一系列充分(必要)条件,并且在通信拓扑连通的前提条件下,给出整个闭环系统的稳定性证明.仿真实例表明了所提出方法的有效性. In this paper, we study a distributed cooperative control problem for a class of interconnected systems with time-delay and switched topologies. We propose a class of distributed robust H∞ cooperative controllers that can meet the expected H∞ performance criteria The premise of which makes all the agents robustly track the virtual Leader.For the proposed distributed H ∞ cooperative controller, a series of sufficient (necessary) conditions are derived by means of the Lyapunov-Krasovskii functional using the linear matrix inequalities, The stability of the whole closed-loop system is proved under the premise of communication topological connectivity.The simulation examples show the effectiveness of the proposed method.