Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems

Muhammad Rehan, Atif Jameel, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

34 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1297-1308
Number of pages12
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume48
Issue number8
DOIs
Publication statusPublished - 2018 Aug 1

Keywords

  • Consensus control
  • nonlinear multiagent systems
  • one-sided Lipschitz nonlinearity
  • quadratic inner-boundedness
  • relative state feedback

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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