Adaptive Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagents
针对单侧Lipschitz非线性多智能体系统，设计了基于边自适应耦合权重的分布式动态一致性协议，实现无领导者一致性，并扩展到有外部扰动的情况，保证L2稳定性。
This paper addresses the leaderless consensus control for a network of multiagent systems with the one-sided Lipschitz and quadratic inner-boundedness nonlinear dynamics. A distributed dynamic consensus protocol as a function of relative state feedback of the neighboring agents with edge-based adaptive coupling weights is designed for an undirected communication graph to achieve asymptotic consensus among the nonlinear agents. Further, an extension of the proposed consensus protocol in the presence of external disturbance is devised to ensure the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> stability of the consensus error. This paper is less conservative and more general owing to its application to the systems with large Lipschitz constants and to a broad class of the nonlinear systems. In comparison to the previous consensus control schemes, the proposed approach can be employed to design consensus protocols for the one-sided Lipschitz systems with unknown communication topology. This feature enables the fully distributed consensus control as the communication graph information is not required for the consensus protocol design. Simulation results for a network of six mobile agents are provided to demonstrate the effectiveness of proposed consensus schemes in the absence or presence of an external disturbance.