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Leader-Following Output Consensus for High-Order Nonlinear Multiagent Systems

机译：高阶非线性多主体系统的前导跟随输出共识

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摘要

This technical note focuses on the leader-following output consensus problem for a class of high-order nonlinear multiagent systems under a fixed directed graph. To obtain the global result of output feedback control for the system with the less conservative condition on nonlinear terms than traditional Lipschitz one, the novel reduced-order dynamic compensator is constructed. By introducing an appropriate state transformation, a new fully distributed output feedback controlmethod is proposed, which greatly simplifies the design procedure compared with the backstepping method. The distributed linear-like controller with a dynamic gain is designed for each agent based only on the relative output measurements of neighboring agents. The condition that the orders of all agents should be the same is not needed anymore with the proposed method; thus, the novel result will have extensive applications. Finally, the theoretical results are supported by a numerical simulation.
机译：本技术说明专注于固定有向图下一类高阶非线性多主体系统的前导跟随输出共识问题。为了获得在非线性条件下比传统的Lipschitz一种保守性较小的系统的输出反馈控制的全局结果，构造了新颖的降阶动态补偿器。通过引入适当的状态变换，提出了一种新的全分布式输出反馈控制方法，与后推方法相比，极大地简化了设计过程。仅基于相邻代理的相对输出测量，为每个代理设计具有动态增益的分布式线性控制器。所提出的方法不再需要所有代理商的订单应该相同的条件。因此，新颖的结果将具有广泛的应用。最后，理论结果得到了数值模拟的支持。

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