Robust State Agreement in Switching Networks of Nonlinear Agents with Measurement Disturbances and Communication Delays 

Abstract

This paper deals with a class of nonlinear multi-agent system with communication delays and measurement disturbances under directed switching topologies. Based on the comparison principle and input-to-state stability (ISS), a novel methodology is provided to ensure that the robust state agreement problem can be solved in a fully distributed manner. With the union of the interconnection digraphs satisfying a mild connectivity assumption, we show that the global result for robust state agreement is obtained if the interaction functions are sector bounded and radially unbounded. If the condition on the interaction functions is relaxed, a local result for robust state agreement is developed. In addition, an asymptotic state agreement result is also proposed for the special case of multi-agent system with only communication delays. The effectiveness of the proposed theoretical results is validated by some numerical examples.