H_∞ leader-based consensus of non-linear multi-agents over switching graphs and disturbances using multiple lyapunov functions

This study deals with the multiple Lyapunov functions approach for the robust leader-following consensus of one-sided Lipschitz (OSL) multiagents, connected via switching topologies under external disturbances. Disturbances have been accounted for followers, connected via a directed graph with a spanning tree from the leader root. The authors stipulate two consensus protocols, based on the absence or existence of norm-bounded reference input to the leader, and provide matrix inequalities for designing the parameters of consensus controllers. In the presence of L₂ bounded disturbances, the proposed protocol ensures H_∞ consensus criterion for minimisation of the effect of disturbances to the consensus error between the leader and followers. A remedy for striking robustness against external perturbations has been provided in the present work in contrast to the conventional consensus schemes on OSL agents. Switching OSL mobile agents and aircraft carriers consisting of a leader and five followers have been simulated in the existence of reference input and disturbances to demonstrate the empirical proficiency of the consensus protocol schemes.