Distributed Adaptive Consensus Control of One-Sided Lipschitz Nonlinear Multi-agent Systems with Directed Graphs

Abstract

This paper investigates a distributed adaptive consensus protocol design problem about one-sided Lipchitz nonlinear multi-agent systems(MASs) with directed graphs. From the perspective of time varying consensus control, a novel one-sided Lipchitz nonlinear control strategy is proposed. The distributed adaptive consensus protocol, only based on the agent dynamics and its neighbors state information, achieves nonlinear leader-less MASs consensus under strongly connected directed graphs. The problem of eliminating the nonlinear term in the MASs is solved by utilizing quadratic boundedness property and Lipschitz condition. The stability, transforming the consensus problem of nonlinear MASs into a stability problem, is proved by designing a special Lyapunov function. The effectiveness of the proposed control protocol is verified by two simulation examples.