Observer-Based Relative-Output Feedback Consensus of One-Sided Lipschitz Multi-Agent Systems Subjected to Switching Graphs

This article addresses a multiple Lyapunov functions approach for investigating an observer-based protocol for the consensus of nonlinear multiagent systems (MASs). Consensus protocol designs using relative-output feedback are developed by considering leader-following consensus and one-sided Lipschitz nonlinearity (OSL) under switching topologies. Switching occurrences are modeled using a relaxed average dwell time constraint. Consensus protocol designs have been provided for switching communication topologies that have a permanent or frequent directed spanning tree (DST) with respect to the leader. In contrast to conventional methods, a more practical and complicated output feedback approach for the consensus of OSL agents under switching topologies has been addressed. In addition, the scenario of frequent DST in a switching network is addressed for the first time to the best of our knowledge for the observer-based control protocol for MASs with OSL nonlinearities. Numerical simulations are provided for MASs to confirm observer-based protocol's proficiency at synchronization under switching graphs.