Robust consensus of uncertain multi agent systems with one-sided Lipschitz nonlinearity

This article develops protocols for the consensus of an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Fully distributed consensus protocols with observer-based and observer-less schemes are investigated. For the observer-based system, a full order Luenberger observer is designed. To overcome the difficulties of designing the controller and observer-based controller gains, sufficient conditions are provided with a complete linear matrix inequality characterization. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed approach.

Automated summary

This article develops protocols for achieving consensus in an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Different distributed consensus protocols with observer-based and observer-less schemes are investigated. The design of a full order Luenberger observer is proposed for the observer-based system. Sufficient conditions, described by linear matrix inequalities, are provided to overcome the difficulties in designing the controller and observer-based controller gains. Two simulation examples are presented to demonstrate the effectiveness of the proposed approach.