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Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems.
- Source :
- IEEE Transactions on Systems, Man & Cybernetics. Systems; Aug2018, Vol. 48 Issue 8, p1297-1308, 12p
- Publication Year :
- 2018
-
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 ${L_{2}}$ 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 48
- Issue :
- 8
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 130828236
- Full Text :
- https://doi.org/10.1109/TSMC.2017.2667701