Cooperative Control of Multi-Agent Systems

9

Global Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics

CONTENTS

9.1    Global Consensus of Nominal Lipschitz Nonlinear Multi-Agent Systems

9.1.1    Global Consensus without Disturbances

9.1.2    Global H_∞ Consensus Subject to External Disturbances

9.1.3    Extensions to Leader-Follower Graphs

9.1.4    Simulation Example

9.2    Robust Consensus of Lipschitz Nonlinear Multi-Agent Systems with Matching Uncertainties

9.2.1    Distributed Static Consensus Protocols

9.2.2    Distributed Adaptive Consensus Protocols

9.2.3    Adaptive Protocols for the Case without Uncertainties

9.2.4    Simulation Examples

9.3    Notes

In the previous chapters, the agent dynamics or the nominal agent dynamics are assumed to be linear. This assumption ...