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Observer‐based leader‐following consensus of uncertain nonlinear multi‐agent systems
Author(s) -
Shi P.,
Shen Q. K.
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3766
Subject(s) - nonlinear system , algebraic graph theory , bounded function , control theory (sociology) , multi agent system , observer (physics) , lyapunov stability , consensus , lyapunov function , directed graph , mathematics , computer science , scheme (mathematics) , graph theory , graph , stability theory , mathematical optimization , control (management) , theoretical computer science , algorithm , artificial intelligence , mathematical analysis , physics , quantum mechanics , combinatorics
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.