In this paper, we consider multi-agent H∞ consensus control problems with external disturbance under the undirected switching topologies. The agent dynamics is expressed in the form of a second-order model and the control laws are neighbor-based feedback laws. By using the model transformation, the multi-agent H∞ consensus control problem is converted into H∞ control problem for a switching linear system with special structure. A sufficient condition is established under which all agents can reach consensus with the desired H∞ performance in switching topology case by constructing a parameter-dependent common Lyapunov function. Moreover, we give an explicit estimation expression to estimate H∞ performance index. Finally, a numerical example is provided to illustrate the effectiveness of our results.