Guaranteed-cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies

Abstract

Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is decomposed into the consensus and disagreement parts with nonlinear terms, which is the key challenge to be dealt with. An explicit expression of the consensus dynamics, which contains the nonlinear term, is given and its initial state is determined. Furthermore, by the structure property of the time-varying nonsingular transformation matrix and the Lipschitz condition, the impacts of the nonlinear term on the disagreement dynamics are linearized and the gain matrix of the consensus protocol is determined on the basis of the Riccati equation. Moreover, an approach to minimize the guaranteed cost is given in terms of linear matrix inequalities. Finally, the numerical simulation is shown to demonstrate the effectiveness of theoretical results.

arXiv comment16 pages

References in corpus (3)

• Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs
• Consensus of Multi-Agent Systems with General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols
• Average consensus problems in networks of agents with delayed communications

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