A distributed robust adaptive consensus for leaderless and leader-following nonlinear multi-agent systems with disturbances and time-delay dynamics

This paper considers the robust consensus problem of Lipschitz nonlinear multi-agent systems with matched disturbances and time-delay dynamics. By LMI approach based on Lyapunov function, distributed adaptive protocols are proposed, which rely on the state information of neighbor agents. Theoretical analysis indicates that the proposed protocol achieve both the leaderless and leader-following consensus. Finally, a simulation example of networks with time-delay feedback Chua' circuit illustrate the effectiveness of the theoretical results.