Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs (long version)

TL;DR

This paper develops a leader-following consensus protocol for nonlinear multi-agent systems with uncertain dynamics, noisy outputs, and asynchronous sampling, ensuring practical stability through Lyapunov analysis and simulations.

Contribution

It introduces a novel continuous-discrete observer-based consensus protocol for Lipschitz nonlinear systems with asynchronous sampling and bounded disturbances.

Findings

The protocol guarantees exponential practical convergence under certain parameter conditions.

Simulations on a Chua's oscillator demonstrate the effectiveness of the proposed method.

The approach handles noisy, asynchronous output measurements in nonlinear multi-agent systems.

Abstract

This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua's oscillator.