Consensus of a class of nonlinear fractional-order multi-agent systems via dynamic output feedback controller

This paper addresses the consensus of a class of nonlinear fractional-order multi-agent systems (FOMASs) with positive real uncertainty. First, a fractional non-fragile dynamic output feedback controller is put forward via the output measurements of neighboring agents, then appropriate state transformation reduced the consensus problem to a stability one. A sufficient condition based on direct Lyapunov approach, for the robust asymptotic stability of the transformed system and subsequently for the consensus of the main system is presented. In addition, utilizing S-procedure and Schur complement, the systematic stabilization design algorithm is proposed for fractional-order system with and without nonlinear terms. The results are formulated as an optimization problem with linear matrix inequality constraints. Simulation results are given to verify the effectiveness of the theoretical results.