This paper addresses the distributed consensus controller design approaches for one-sided Lipschitz nonlinear multiagents by employing relative state feedback. A new treatment for one-sided Lipschitz nonlinearity is rendered from the consensus control point of view. By employing the quadratic inner-boundedness and the one-sided Lipschitz constraints, a sufficient condition for asymptotic consensus of nonlinear systems under strongly connected communication topologies is provided. Further, a robust consensus protocol design scheme for the nonlinear multiagents is derived by ensuring the L2 stability of the consensus error system. Furthermore, a novel robust consensus control scheme against amplitude-bounded perturbations is developed that guarantees asymptotic convergence of the consensus error into a compact set. Extensions to the proposed methodologies for the leader-following consensus for a spanning tree communication topology with the leader as the root are addressed. In contrast to the conventional consensus control methodologies, this paper is less conservative and can be applied to a broader class of nonlinear multiagent systems. Moreover, the proposed consensus control approach is less conservative for robustness against disturbances owing to its ability to handle amplitude-bounded disturbances and due to the relaxation of a balanced communication topology. A numerical simulation study is provided for the consensus control of eight mobile agents.
|Number of pages||12|
|Journal||IEEE Transactions on Systems, Man, and Cybernetics: Systems|
|Publication status||Published - 2018 Aug|
Bibliographical noteFunding Information:
Manuscript received December 12, 2016; accepted February 1, 2017. Date of publication February 24, 2017; date of current version July 17, 2018. This work was supported in part by the National Research Foundation of Korea through the Ministry of Science, ICT & Future Planning under Grant NRF-2014R1A1A1006101, and in part by the Brain Korea 21 Plus Project in 2017. This paper was recommended by Associate Editor V. Loia. (Corresponding authors: Muhammad Rehan and Choon Ki Ahn.) M. Rehan and A. Jameel are with the Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Science, Nilore 45650, Pakistan. (e-mail: email@example.com; firstname.lastname@example.org).
© 2013 IEEE.
- Consensus control
- nonlinear multiagent systems
- one-sided Lipschitz nonlinearity
- quadratic inner-boundedness
- relative state feedback
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering