Robustification of sample-and-hold controllers for the consensus problem

Robustification of controllers for the consensus problem of multi-agent systems (MASs) with actuator disturbances is analysed in this work. If a general consensus protocol is available for the disturbances-free system, a new sampled-data control law guarantees the agreement, in the sample-and-hold sense, with arbitrarily large and bounded actuator disturbance. Also the observation error is investigated. The agent drift dynamics are required to be globally Lipschitz and bounded. A numerical simulation example is finally proposed to validate the results.