Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems

Muhammad Rehan, Atif Jameel, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

116 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1297-1308
Number of pages12
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number8
Publication statusPublished - 2018 Aug

Bibliographical note

Funding 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: rehanqau@gmail.com; maliks.atif@gmail.com).

Publisher Copyright:
© 2013 IEEE.


  • Consensus control
  • nonlinear multiagent systems
  • one-sided Lipschitz nonlinearity
  • quadratic inner-boundedness
  • relative state feedback

ASJC Scopus subject areas

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


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