TY - JOUR
T1 - Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems
AU - Rehan, Muhammad
AU - Jameel, Atif
AU - Ahn, Choon Ki
N1 - Funding Information:
Manuscript received December 12, 2016; accepted February 1, 2017. Date of publication February 24, 2017; date of current version July 17, 2018. This work was supported in part by the National Research Foundation of Korea through the Ministry of Science, ICT & Future Planning under Grant NRF-2014R1A1A1006101, and in part by the Brain Korea 21 Plus Project in 2017. This paper was recommended by Associate Editor V. Loia. (Corresponding authors: Muhammad Rehan and Choon Ki Ahn.) M. Rehan and A. Jameel are with the Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Science, Nilore 45650, Pakistan. (e-mail: rehanqau@gmail.com; maliks.atif@gmail.com).
Publisher Copyright:
© 2013 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - This paper addresses the distributed consensus controller design approaches for one-sided Lipschitz nonlinear multiagents by employing relative state feedback. A new treatment for one-sided Lipschitz nonlinearity is rendered from the consensus control point of view. By employing the quadratic inner-boundedness and the one-sided Lipschitz constraints, a sufficient condition for asymptotic consensus of nonlinear systems under strongly connected communication topologies is provided. Further, a robust consensus protocol design scheme for the nonlinear multiagents is derived by ensuring the L2 stability of the consensus error system. Furthermore, a novel robust consensus control scheme against amplitude-bounded perturbations is developed that guarantees asymptotic convergence of the consensus error into a compact set. Extensions to the proposed methodologies for the leader-following consensus for a spanning tree communication topology with the leader as the root are addressed. In contrast to the conventional consensus control methodologies, this paper is less conservative and can be applied to a broader class of nonlinear multiagent systems. Moreover, the proposed consensus control approach is less conservative for robustness against disturbances owing to its ability to handle amplitude-bounded disturbances and due to the relaxation of a balanced communication topology. A numerical simulation study is provided for the consensus control of eight mobile agents.
AB - This paper addresses the distributed consensus controller design approaches for one-sided Lipschitz nonlinear multiagents by employing relative state feedback. A new treatment for one-sided Lipschitz nonlinearity is rendered from the consensus control point of view. By employing the quadratic inner-boundedness and the one-sided Lipschitz constraints, a sufficient condition for asymptotic consensus of nonlinear systems under strongly connected communication topologies is provided. Further, a robust consensus protocol design scheme for the nonlinear multiagents is derived by ensuring the L2 stability of the consensus error system. Furthermore, a novel robust consensus control scheme against amplitude-bounded perturbations is developed that guarantees asymptotic convergence of the consensus error into a compact set. Extensions to the proposed methodologies for the leader-following consensus for a spanning tree communication topology with the leader as the root are addressed. In contrast to the conventional consensus control methodologies, this paper is less conservative and can be applied to a broader class of nonlinear multiagent systems. Moreover, the proposed consensus control approach is less conservative for robustness against disturbances owing to its ability to handle amplitude-bounded disturbances and due to the relaxation of a balanced communication topology. A numerical simulation study is provided for the consensus control of eight mobile agents.
KW - Consensus control
KW - nonlinear multiagent systems
KW - one-sided Lipschitz nonlinearity
KW - quadratic inner-boundedness
KW - relative state feedback
UR - http://www.scopus.com/inward/record.url?scp=85042266647&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2017.2667701
DO - 10.1109/TSMC.2017.2667701
M3 - Article
AN - SCOPUS:85042266647
VL - 48
SP - 1297
EP - 1308
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
SN - 2168-2216
IS - 8
ER -