Robust consensus for uncertain multi-agent systems on directed communication topologies

In this paper, we study the distributed robust consensus for uncertain double integrators on the directed communication topologies. Using the backstepping technique, we construct a control Lyapunov function for the nominal double integrator consensus design. In the presence of model uncertainties, we develop a distributed robust redesign under the assumption that the uncertainty in each agent dynamics is bounded and satisfies the matching condition. Due to the flexibility of backstepping, the proposed redesign is applicable without relative velocity measurement. Simulation results show the effectiveness of the proposed robust control.