Robust Nonfragile Consensus Control of MASs With Controller Gain Perturbations and Switching Directed Networks.

This article investigates the robust nonfragile leaderless consensus control issues of nonlinear multiagent systems (MASs) in the presence of controller gain perturbations, external interferences, and switching directed networks. A novel distributed nonfragile consensus controller is first devised. Subsequently, on the basis of the property that an MAS directed network's Laplacian matrix can be broken down into the product of two particular matrices, the conversion from the consensus control issue to the asymptotic stability control issue is achieved via two variable substitutions related to the above property. Additionally, a sufficient condition, which can guarantee the MASs' asymptotic stability, is proposed and proved by Lyapunov stability theory and algebraic graph theory. Finally, the validity of the devised method is demonstrated by a simulation example.