Robust Leaderless Consensus Control of Multiagent Systems With Lipschitz Nonlinearity via LPV Scheme Under Fixed and Switching Topologies

摘要

This article investigates the robust adaptive distributed consensus protocol of nonlinear multiple systems in the presence of perturbations. The existing works on the cooperative protocol of Lipschitz nonlinear agents in the presence of disturbances are conservative and dependent on the global information of network topology.The proposed robust consensus scheme employs a linear parameter-varying scheme to reformulate the dynamical form of Lipschitz nonlinearity that uses the exact information of nonlinearity and reduces the conservatism. In contrast to the existing works on static control, an adaptive output feedback cooperative protocol is considered to ensure consensus for the network of multiple agents that are independent of graph topology and do not require the knowledge of the Laplacian matrix. The protocol for fixed graph is also extended for the case of switching topology. Finally, the mathematical theorems are simulated for the practical application of group of aircraft and robotic manipulators.