Multi-agent Consensus Problem Based on Observer and Considered Lur’e Nonlinearity in Directed Topology

Abstract

This paper studies the multi-agent systems consensus problem considering Lur’e-type nonlinearity under directed network. Compared with the conclusions of the existing undirected communication topology, the conclusions obtained have greatly reduced the communication topology requirements and are more general. This paper designs a control protocol based on the observer, which solves the problem that the system state information is unknown. By decomposition of a specific form of the Laplacin matrix, consensus problem is converted into stability problem for low-dimensional systems. In this paper, the method of solving the control protocol is given and proved by the piecewise Lyapunov function. The simulation results show that the designed control protocol can solve the consistency problem.