Observer-Based Distributed Adaptive Consensus Tracking of Nonlinear Multi-agent Systems on Directed Graphs

Abstract

This paper studies the leader-following consensus problem of nonlinear multi-agent systems (MAS) with one-sided Lipschitz conditions under the directed graph, and a novel observer-based distributed tracking protocol that only utilizes the relative output information of adjacent agents is proposed. To avoid the disadvantage of solving Laplace matrix eigenvalues, a fully distributed adaptive consensus scheme is constructed. The sufficient conditions for linear matrix inequalities (LMIs) for the consensus of MAS systems are derived using the Lyapunov function and the properties of one-sided Lipschitz nonlinear systems. Finally, the effectiveness of the proposed control method can be verified by two examples-based simulations with a leader and five followers.