Abstract: This study mainly focuses on design method for H∞ controllers achieving consensus among the autonomous agents within swarm. A robust controller is designed for the entire closed-loop system to achieve consensus among the agents, while the non-consensus part is Lyapunov stable based on the robust disturbance rejection. Two cases are considered. The first one is that the agents in the swarm can interact with every other agent when each agent can receive information from every other. The other one is that the topology structure composed by the agents is fixed when each agent in the swarm can only exchange information with some agents but not all other agents. Simulation results demonstrate that designed controller for the system can make the closed-loop system reach consensus with non-consensus part be Lyapunov stable meeting the H∞ performance for disturbances attenuation.