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

Xiaocheng Liu, Hongjun Chu and Weidong Zhang ()
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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

Mathematics, 2023, vol. 12, issue 1, 1-13

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.

Keywords: multi-agent systems; one-sided Lipchitz; observer; adaptive protocol; directed graph (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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