Robust consensus of uncertain multi agent systems with one-sided Lipschitz nonlinearity

Karthi Ramachandran; Jyh Ching Juang

doi:10.1002/rnc.6242

Robust consensus of uncertain multi agent systems with one-sided Lipschitz nonlinearity

Karthi Ramachandran, Jyh Ching Juang

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

This article develops protocols for the consensus of an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Fully distributed consensus protocols with observer-based and observer-less schemes are investigated. For the observer-based system, a full order Luenberger observer is designed. To overcome the difficulties of designing the controller and observer-based controller gains, sufficient conditions are provided with a complete linear matrix inequality characterization. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed approach.

Original language	English
Journal	International Journal of Robust and Nonlinear Control
DOIs	https://doi.org/10.1002/rnc.6242
Publication status	Accepted/In press - 2022

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
General Chemical Engineering
Biomedical Engineering
Aerospace Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1002/rnc.6242

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title = "Robust consensus of uncertain multi agent systems with one-sided Lipschitz nonlinearity",

abstract = "This article develops protocols for the consensus of an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Fully distributed consensus protocols with observer-based and observer-less schemes are investigated. For the observer-based system, a full order Luenberger observer is designed. To overcome the difficulties of designing the controller and observer-based controller gains, sufficient conditions are provided with a complete linear matrix inequality characterization. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed approach.",

author = "Karthi Ramachandran and Juang, {Jyh Ching}",

note = "Funding Information: This work was supported by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 110‐2218‐E‐006‐026. Publisher Copyright: {\textcopyright} 2022 John Wiley & Sons Ltd.",

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AB - This article develops protocols for the consensus of an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Fully distributed consensus protocols with observer-based and observer-less schemes are investigated. For the observer-based system, a full order Luenberger observer is designed. To overcome the difficulties of designing the controller and observer-based controller gains, sufficient conditions are provided with a complete linear matrix inequality characterization. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed approach.

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Robust consensus of uncertain multi agent systems with one-sided Lipschitz nonlinearity

Abstract

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