Sampled-data consensus of Lipschitz nonlinear multi-agent systems under directed communication graphs

Abstract

In this paper, we consider the sampled-data consensus of a class of nonlinear multi-agent systems under general directed communication graphs. A distributed consensus controller which uses only sampled-data relative state measurements is first proposed. Then, by input delay approach, the closed-loop system is reformulated as continuous systems with time-varying input delay. Based on novel Lyapunov functions, sufficient conditions on the controller parameters, the sampling interval upper bound and the communication graphs to achieve consensus are derived. Then, simple LMI conditions are given to design the controller. A simulation example is given to illustrate the obtained results.