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Observer-Based Adaptive Consensus Protocol Design for Multi-Agent Systems with One-Sided Lipschitz Nonlinearity

Author

Listed:
  • Xiaocheng Liu

    (Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China)

  • Hongjun Chu

    (Institute of Advanced Technology for Carbon Neutrality, Nanjing University of Posts and Telecommunications, Nanjing 210003, China)

  • Weidong Zhang

    (Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China)

Abstract

This paper considers the observer-based leader–follower consensus problem of multi-agent systems with one-sided Lipschitz conditions and quadratic inner-boundedness nonlinearity. Based on the relative outputs of neighboring agents, an adaptive protocol over a directed graph is designed via assigning a time-varying coupling weight to each node. Compared with the existing protocols, the proposed protocol can not only be utilized in the unidirectional flow of information, but it does not require any global graph information for its design. It has been shown that the established criteria can not only make the observer error tendency zero, but one can also achieve the leader–follower consensus of such nonlinear multi-agent systems. Furthermore, the gains of observer and protocol parameters can be constructed by solving the linear matrix inequalities (LMIs), which are conveniently checked. The results are illustrated by numerical simulations.

Suggested Citation

  • Xiaocheng Liu & Hongjun Chu & Weidong Zhang, 2023. "Observer-Based Adaptive Consensus Protocol Design for Multi-Agent Systems with One-Sided Lipschitz Nonlinearity," Mathematics, MDPI, vol. 12(1), pages 1-15, December.
    • Handle: RePEc:gam:jmathe:v:12:y:2023:i:1:p:87-:d:1307993
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