Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems
- Authors
- Rehan, Muhammad; Jameel, Atif; Ahn, Choon Ki
- Issue Date
- 8월-2018
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Consensus control; nonlinear multiagent systems; one-sided Lipschitz nonlinearity; quadratic inner-boundedness; relative state feedback
- Citation
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, v.48, no.8, pp.1297 - 1308
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
- Volume
- 48
- Number
- 8
- Start Page
- 1297
- End Page
- 1308
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/73830
- DOI
- 10.1109/TSMC.2017.2667701
- ISSN
- 2168-2216
- Abstract
- 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 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-hounded 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.
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