Consensus of One-Sided Lipschitz Multiagents under Switching Topologies

Muhammad Ahsan Razaq, Muhammad Rehan, Choon Ki Ahn, Abdul Qayyum Khan, Muhammad Tufail

Research output: Contribution to journalArticlepeer-review

39 Citations (Scopus)


This paper considers the leader-following consensus of multiagents with one-sided Lipschitz nonlinear dynamics by considering switching topologies. For the suitable selection of the consensus control gain matrix and coupling weight, a new condition for consensus is achieved for switching communication links with a directed spanning tree in the topology by constraining the dwell time. Employing a communication restoration mechanism allows a method to be obtained for the case in which a topology violates a permanent directed spanning tree. Computationally straightforward consensus controller design conditions that are necessary and sufficient for the former conditions are also developed for both cases. These simpler conditions can be used to obtain consensus protocol gains directly through convex routines. An algorithm is also provided to solve nonlinear constraints using the cone complementary linearization approach by considering a nonlinear objective function optimization problem. A numerical simulation is provided for multiagents that demonstrates the proposed control schemes' efficiency.

Original languageEnglish
Article number8666133
Pages (from-to)1485-1495
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number3
Publication statusPublished - 2021 Mar

Bibliographical note

Funding Information:
Manuscript received September 13, 2018; revised November 30, 2018; accepted January 20, 2019. Date of publication March 12, 2019; date of current version February 17, 2021. This work was supported in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325, and in part by the Brain Korea 21 Plus Project in 2019. This paper was recommended by Associate Editor Z.-G. Wu. (Corresponding authors: Muhammad Rehan; Choon Ki Ahn.) M. A. Razaq, M. Rehan, A. Q. Khan, and M. Tufail are with the Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences, Islamabad 45650, Pakistan (e-mail:;;;

Publisher Copyright:
© 2013 IEEE.


  • Leader-following consensus
  • multiagents
  • one-sided Lipschitz systems
  • switching topology

ASJC Scopus subject areas

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


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