Observer‐based leader‐following consensus of uncertain nonlinear multi‐agent systems

Summary In this paper, the leader‐following consensus problem of uncertain high‐order nonlinear multi‐agent systems on directed graph with a fixed topology is studied, where it is assumed that the relative states of a follower and its neighbors are immeasurable and only the relative outputs are avai...

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Bibliographic Details
Published in:International journal of robust and nonlinear control 2017-11, Vol.27 (17), p.3794-3811
Main Authors: Shi, P., Shen, Q. K.
Format: Article
Language:English
Subjects:
Adaptive control
Computer simulation
Control systems
cooperative control
Graph theory
leader‐following consensus
Multiagent systems
multi‐agent systems
Nonlinear systems
Stability analysis
Systems stability
Tracking errors
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Summary:Summary In this paper, the leader‐following consensus problem of uncertain high‐order nonlinear multi‐agent systems on directed graph with a fixed topology is studied, where it is assumed that the relative states of a follower and its neighbors are immeasurable and only the relative outputs are available. Nonlinear adaptive observers are firstly proposed for each follower to estimate the states of it and its neighbors, and an observer‐based distributed adaptive control scheme is constructed to guarantee that all followers asymptotically synchronize to a leader with tracking errors being semi‐globally uniform ultimate bounded. On the basis of algebraic graph theory and Lyapunov theory, the closed‐loop system stability analysis is conducted. Finally, numerical simulations are presented to illustrate the effectiveness and potential of the proposed new design techniques. Copyright © 2017 John Wiley & Sons, Ltd.
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.3766