Distributed robust consensus of a class of lipschitz nonlinear multi-agent systems with matching uncertainties

This paper considers the distributed robust consensus problem of a class of multi-agent systems with Lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information of neighboring agents, distributed continuous static and adaptive consensus protocols are designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable residual set. Note that the proposed distributed adaptive consensus protocol relies on neither the eigenvalues of the Laplacian matrix nor the upper bounds of the uncertainties. The case where there exists a leader whose control input is unknown and bounded is further studied.