Distributed robust leaderless consensus of Lipschitz nonlinear multi-agent systems with matching uncertainties

This paper considers the distributed robust consensus problem 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.