Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 121; p. 109176
Main Authors Ménard, Tomas, Ajwad, Syed Ali, Moulay, Emmanuel, Coirault, Patrick, Defoort, Michael
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.11.2020
Elsevier
Subjects
Automatic
Computer Science
Continuous-discrete time observer
Directed graph
Engineering Sciences
Leader-following consensus
Multiagent Systems
Sampled data
Sampled data
Continuous-discrete time observer
Directed graph
Leader-following consensus
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Summary:This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua’s oscillator.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2020.109176