Leader-follower consensus control of Lipschitz nonlinear systems by output feedback

ABSTRACT

This paper deals with the leader-follower consensus problem of Lipschitz nonlinear systems under fixed directed communication networks. Both state and output feedback control are proposed based on state and output measurements of neighbouring agents, respectively. Laplacian matrix features are explored for the stability analysis, and the sufficient conditions are derived to solve the consensus problem. Finally, simulation results are included to demonstrate the effectiveness of the output-based consensus controller.

Keywords:

• Consensus
• output feedback
• multi-agent systems
• nonlinear system

Acknowledgements

The first author would like to thank University Teknikal Malaysia Melaka (UTeM) for their sponsorship. The second author would like to thank the support of the National Natural Science Foundation of China (No. 61203022) and the China Scholarship Council (CSC).

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

University Teknikal Malaysia Melaka (UTeM): Ahmad Sadhiqin Mohd Isira; National Natural Science Foundation of China: Zongyu Zuo [grant number 61203022]; China Scholarship Council (CSC).

Notes on contributors

Ahmad Sadhiqin Mohd Isira

Ahmad Sadhiqin Mohd Isira received his MS degree in electrical engineering from University Teknology Malaysia (UTM), Malaysia, in 2008. He is currently working toward the PhD degree at Control System Center, University of Manchester, U.K. He is also a staff of University Teknikal Malaysia Melaka. His research interests include nonlinear control, complex network, and cooperative control of multi-agent systems.

Zongyu Zuo

Zongyu Zuo received his BEng degree in automatic control from Central South University, Hunan, China, in 2005, and PhD degree in control theory and applications from Beihang University (BUAA), Beijing, China, in 2011. He was an academic visitor at the School of Electrical and Electronic Engineering, University of Manchester from September 2014 to September 2015 and held an inviting associate professorship at Mechanical Engineering and Computer Science, UMR CNRS 8201, Université de Valenciennes et du Hainaut-Cambrésis in October 2015. He is currently an assistant professor at the School of Automation Science and Electrical Engineering, Beihang University. His research interests are in the fields of nonlinear system control, control of UAVs, and coordination of multi-agent system.

Zhengtao Ding

Zhengtao Ding received his BEng degree from Tsinghua University, Beijing, China, and the MSc degree in systems and control and the PhD degree in control systems from the University of Manchester Institute of Science and Technology, Manchester, U.K. After working as a lecturer with Ngee Ann Polytechnic, Singapore, for ten years, in 2003, he joined The University of Manchester, Manchester, U.K., where he is currently a senior lecturer of control engineering with the School of Electrical and Electronic Engineering. He is the author of the book Nonlinear and Adaptive Control Systems (IET, 2013) and a number of journal papers. His research interests include nonlinear and adaptive control theory and their applications. Dr. Ding serves as an associate editor for the IEEE Transactions on Automatic Control, Transactions of the Institute of Measurement and Control, Control Theory and Technology, Mathematical Problems in Engineering, Unmanned Systems, and International Journal of Automation and Computing.