2012/02/24 by Zhongkui Li, Xiangdong Liu, Li, Zhongkui +5
Computer Science · Medicine · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #FOS: Mathematics #Mathematical and Theoretical Epidemiology and Ecology Models #Neural Networks Stability and Synchronization #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1202.5447
openalex publication_date 2012/02/24 · openalex created_date 2019/06/27 · openalex updated_date 2026/07/28
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of neighboring agents. A two-step algorithm is presented to construct a protocol, under which a Lipschitz multi-agent system without disturbances can reach global consensus for a strongly connected directed communication graph. Another algorithm is then given to design a protocol which can achieve global consensus with a guaranteed H_∞ performance for a Lipschitz multiagent system subject to external disturbances. The case with a leader-follower communication graph is also discussed. Finally, the effectiveness of the theoretical results is demonstrated through a network of single-link manipulators.