Observer-based adaptive consensus for multi-agent systems with nonlinear dynamics

Abstract

Distributed consensus problem is investigated for Lipschitz nonlinear multi-agent systems (MASs). Under the assumption that the states of the multiple agents are unmeasured, nonlinear observer for each agent is designed. Based on these observers, a distributed protocol is proposed, in which the coupling weights between adjacent agents are time-varying and can automatically change according to the designed adaptive law. Lyapunov-Krasovskii functional is constructed to analyses the consensus problem of the MASs under the proposed distributed adaptive protocol. By using free-weighting matrix approach, sufficient conditions that can ensure consensus are given. Finally, numerical example is presented to illustrate our result.