ℋ_∞ observer-based consensus for nonlinear multiagent systems with actuator saturation and input delays

Abstract

In this paper, ${\mathcal{H}}_{\mathrm{\infty }}$ observer-based consensus for a class of nonlinear multiagent systems (MASs) with actuator saturation and input delays are estimated. A new delay-dependent region partitioning approach has been introduced in multiagent systems. The state information of the leader can be obtained by designing a distributed observer for each follower. Based on the state information of the follower and the estimated state information of the neighbouring agents, a distributed controller has been developed. With the help of a novel Lyapunov–Krasovakii functional (LKF), using a region partitioning approach combined with Wirtinger inequalities, a sufficient condition is established in terms of Linear Matrix Inequality (LMI). Finally, simulation examples are presented to the applicability of the proposed theoretical results.

Keywords:

• Nonlinear MASs
• leader–following consensus
• distributed controller
• actuator saturation
• input delays

Disclosure statement

No potential conflict of interest was reported by the author(s).