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This paper is concerned with the leader-following consensus problem for aclass of Lipschitz nonlinear multi-agent systems with uncertain dynamics, whereeach agent only transmits its noisy output, at discrete instants andindependently from its neighbors. The proposed consensus protocol is based on acontinuous-discrete time observer, which provides a continuous time estimationof the state of the neighbors from their discrete-time output measurements,together with a continuous control law. The stability of the multi-agent systemis analyzed with a Lyapunov approach and the exponential practical convergenceis ensured provided that the tuning parameters and the maximum allowablesampling period satisfy some inequalities. The proposed protocol is simulatedon a multi-agent system whose dynamics are ruled by a Chua's oscillator.

Leader-following consensus for multi-agent systems with nonlinear  dynamics subject to additive bounded disturbances and asynchronously sampled  outputs (long version)