ABSTRACT
This chapter addresses the global consensus problem for a class of nonlinear multi-agent systems, the Lipschitz nonlinear multi-agent systems where each agent contains a nonlinear function satisfying a global Lipschitz condition. The Lipschitz nonlinear multi-agent systems will reduce to general linear multi-agent systems when the nonlinearity does not exist. The chapter presents a two-step algorithm to construct one such protocol, under which a Lipschitz multi-agent system without disturbances can reach global consensus for a strongly connected directed communication graph. It discusses the existence condition of the proposed consensus protocol. The chapter considers the distributed robust consensus problem of a class of Lipschitz nonlinear multi-agent systems subject to different matching uncertainties. In many practical cases, it is desirable that the agents’ states asymptotically approach a reference state.
