Consensus of Lur’e Multi-Agent Systems With Directed Switching Topology

We study the consensus tracking problems of Lur’e multi-agent systems (MASs) with directed switching topology and a leader that is subject to unknown inputs. We firstly use the pure relative outputs to design a distributed unknown input observer (UIO) that can track the relative states exactly. Then we use this UIO to design a discontinuous controller which contains a consensus part and a discontinuous part, where the impacts of the leader’s unknown inputs can be completely removed by the discontinuous part. Furthermore, by using the average dwell time (ADT) method, we show that asymptotical consensus can be achieved if the ADT is larger than a positive threshold. Secondly, we design a continuous controller under which the consensus tracking error is uniformly ultimately bounded (UUB). Finally, we perform a simulation on the multiple Chua’s circuits to validate the theoretical result.