On Consensus of Nonlinear Multi-Agent Systems with Output Constraints

Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper proposes a unified approach to analyze and synthesize consensus control laws for nonlinear leaderless multi-agent systems (MASs) subjected to output constraints. First, we employ the input-output feedback linearization method to derive the linearized models of agents. Accordingly, the consensus problem under output constraints for the initial nonlinear MAS is transformed into an equivalent consensus problem under state constraints for the linearized MAS, which is then reformulated as a network of Lur'e systems. Next, a sufficient condition for consensus and the design of consensus controller gain are derived from solutions of a distributed LMI convex problem. Finally, a numerical example is introduced to illustrate the proposed theoretical approach.

Original languageEnglish
Pages (from-to)103-108
Number of pages6
Issue number22
Publication statusPublished - 2016
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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