A consensus protocol considering Lipschitz constant and communication topology condition of high-order nonlinear multi-agent systems

Abstract

A new protocol is proposed for the consensus of multi-agent systems with the properties of high-order and nonlinearity for every single system. It is assumed that the nonlinear function of the sub-agent is restricted by the Lipschitz condition, and in addition, there are two kinds of communication topology structures among the members. The protocol combines the eigenvalues of the Laplace matrix and the Lipschitz constant of the multi-agent system. By reasonably designing the Lyapunov function, the convergence condition of the system is divided into two parts which are connected by an unknown quantity k. Except for quantity k, the connection of other parts of the protocol is loose, which makes the protocol more flexible.