Guaranteed-performance leader-following consensus for one-sided Lipschitz nonlinear multi-agent systems

Abstract

This paper addresses the guaranteed-performance leader-following consensus for one-sided Lipschitz (OSL) nonlinear multi-agent systems. Firstly, a leader-following control protocol is proposed by the joint design between the guaranteed-performance control and the consensus control. Then, based on the quadratic inner bounded condition and the OSL condition, a sufficient condition for the guaranteed-performance leader-following consensus design is proposed by the linear matrix inequality. At last, a numerical example is given to verify the effectiveness of proposed results.