Distributed set-membership observer-based consensus of nonlinear delayed multi-agent systems under round-robin protocols

In this paper, we study the set-membership leader-following consensus problem for nonlinear discrete- time multi-agent systems with mixed time-delays and bounded noises under switching topologies. A distributed set- membership consensus protocol, which is based on set-membership observers, is presented. The scheduling of sensor information towards the observers is ruled by the Round-Robin protocol. Sufficient conditions are derived for the existence of the consensus protocol and the observers, and the parameters of the desired consensus protocol and the observers are obtained by solving a set of recursive linear matrix inequalities. Both the topology-mode-dependent observers and the topology-mode-independent observers are considered. Finally, a numerical example is utilized to illustrate the effectiveness of the proposed state estimators and consensus protocol.