Guaranteed–Performance Leader–Follower Consensus for One–Sided Lipschitz Nonlinear Swarm Systems with Intermittent Communications and Switching Topologies
Wanzhen Quan, Ye Tao, Pengfa Wang, Hong Xin, Fang Li, Xiangbing Chen, Shuang Su, Haichao Zhu · Unmanned Systems · 2025
This paper investigates the Guaranteed-Performance Leader–Follower (GPLF) consensus for One-Sided Lipschitz (OSL) nonlinear swarm systems under communication constraints of intermittent communication and switching topologies, and determines the guaranteed-performance cost of the leader–follower consensus. Compared with the well-known Lipschitz nonlinear swarm systems, the OSL nonlinearity represents a broader class of nonlinear systems. First, a GPLF consensus protocol is proposed, which determines the guaranteed-performance cost while ensuring that all agents achieve leader–follower consensus. Then, using the OSL and Quadratic Inner Bounded (QIB) conditions, sufficient conditions for the design and analysis of OSL nonlinear swarm systems have been derived in terms of linear matrix inequalities. Finally, two cases have been presented to demonstrate the effectiveness of the proposed method.