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