Distributed Consensus Control of Nonlinear Multiagent Systems Satisfying Incremental Quadratic Constraints

In this paper, we investigate the problem of leaderless consensus control for the multiagent systems with nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, has been presented to render nonlinear agents consensus by choosing appropriate coupling weights without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leader-following fashion are also addressed. In contrast to the conventional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz condition and the combined condition of one-sided Lipschitz and quadratic inner-boundness conditions to a new generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally, the simulation results for six agents are presented to show the feasibility and effectiveness of the proposed control protocol.