Adaptive Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagents

Rizwana Agha, Muhammad Rehan, Choon Ki Ahn, Ghulam Mustafa, Sohaira Ahmad

Research output: Contribution to journalArticlepeer-review

63 Citations (Scopus)


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-{2}} 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.

Original languageEnglish
Article number8107516
Pages (from-to)568-578
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number3
Publication statusPublished - 2019 Mar


  • Consensus control
  • coupling weights
  • distributive and adaptive protocol
  • edge-based protocol
  • multiagent system
  • one-sided Lipschitz nonlinearity

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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