Distributed Robust Leaderless Consensus of Lipschitz Nonlinear Multi-agent Systems with Matching Uncertainties
作者单位：State Key Laboratory for Turbulence and Complex SystemsDepartment of Mechanics and Engineering ScienceCollege of EngineeringPeking University
会议名称：《第26届中国控制与决策会议》
会议日期：2014年
学科分类：0711[理学-系统科学] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 071102[理学-系统分析与集成] 081103[工学-系统工程]
基 金：supported by the National Natural Science Foundation of China under grants 61104153,11332001,61225013 a Foundation for the Author of National Excellent Doctoral Dissertation of PR China
关 键 词：Multi-agent systems uncertain systems Lipschitz nonlinearity consensus robust control.
摘 要：This paper considers the distributed robust consensus problem of multi-agent systems with Lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information of neighboring agents, distributed continuous static and adaptive consensus protocols are designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set.