Distributed adaptive consensus control of Lipschitz nonlinear multi-agent systems using output feedback

ABSTRACT

This paper addresses output-feedback-based distributed adaptive consensus control of multi-agent systems having Lipschitz nonlinear dynamics. Distributed dynamic protocols are designed based on the relative outputs of neighbouring agents and the adaptive coupling weights, under which consensus is reached between the nonlinear systems for all undirected connected communication topologies. Extension to the case of Lipschitz nonlinear multi-agent systems subjected to external disturbances is further studied, and a robust adaptive fully distributed consensus protocol is suggested. By application of a decoupling technique, necessary and sufficient conditions for the existence of these consensus protocols are provided in terms of linear matrix inequalities. Finally, numerical simulation results are demonstrated to validate the effectiveness of the theoretical results.

KEYWORDS:

• Consensus control
• multi-agent systems
• distributed adaptive protocol
• Lipschitz nonlinearity
• decoupling technique

Acknowledgment

The research work of the third author was supported by the National Research Foundation of Korea under the auspices of the Ministry of Science, ICT and Future Planning, Republic of Korea [grant no. NRF-2014-R1A2A1A10049727].

Disclosure statement

No potential conflict of interest was reported by the authors.