Consensus for general multi-agent networks with external disturbances

In this paper, a class of consensus protocol for detail-balanced networks of agents with general Lipschitz-type nonlinear dynamics and external disturbances is investigated. To guarantee asymptotic consensus in such a multi-agent system, several distributed controllers are constructed based only on the relative state information of neighboring agents. By appropriately constructing Lyapunov function and using tools from M-matrix theory, some sufficient conditions for achieving distributed consensus are provided. Finally, two examples and simulations are given to illustrate the effectiveness of the obtained theoretical result.