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Global H/spl infin/ consensus of multi-agent systems with Lipschitz non-linear dynamics

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4 Author(s)
Li, Z. ; Key Lab. for Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China ; Liu, X. ; Fu, M. ; Xie, L.

This study addresses the global consensus problems of a class of non-linear multi-agent systems with Lipschitz non-linearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of neighbouring agents. A two-step algorithm is presented to construct a protocol, under which a Lipschitz multi-agent system without disturbances can reach global consensus for a strongly connected directed communication graph. Another algorithm is then given to design a protocol that can achieve global consensus with a guaranteed H performance for a Lipschitz multi-agent system subject to external disturbances. The case with a leader-follower communication graph is also discussed. Finally, the effectiveness of the theoretical results is demonstrated through a network of single-link manipulators.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 13 )