Robust consensus of Lur'e networks with uncertain communications

Abstract

This study addresses the robust consensus problem of a network of Lur'e systems coordinating over uncertain communication channels. The authors model each communication channel of the network as an ideal transmission system with the unitary transfer function perturbed by a norm-bounded uncertainty, which is particularly susceptible to describe quantisation errors and communication noises. Based on the uncertain relative state information among neighbouring agents, a distributed consensus protocol is proposed and designed in terms of linear matrix inequalities to ensure robust consensus for both undirected connected graphs and leader-follower graphs containing a directed spanning tree.