Fully distributed consensus for higher-order nonlinear multi-agent systems with unmatched disturbances

Abstract

In this paper, the distributed consensus problem is investigated for a class of higher-order nonlinear multi-agent systems with unmatched disturbances. By the back-stepping technique, a new distributed protocol is designed to solve the consensus problem for multi-agent systems without using the information of the Laplacian matrix and Lipschitz constants. It is proved that the practical consensus of multi-agent systems with unmatched disturbances can be achieved by the proposed protocol. Finally, the validity of the proposed scheme is verified by a simulation.

Fully distributed consensus for high-order strict-feedback nonlinear multiagent systems with switched topologies

“…where z i,n = e i,n − e * i,n = e i,n + γ n−1 z i,n−1 . From step n − 1, we can see that Vn−1 satisfies (40), then the time derivative of V n is given by…”

“…By using distributed adaptive protocols, Li et al [16] solved fully distributed consensus problems for both linear and Lipschitz nonlinear MASs. The fully distributed consensus problem was investigated for a class of high-order nonlinear MASs with unmatched disturbances in paper [40]. Wang et al [36] addressed the fully distributed cooperative control problem of nonlinear strictfeedback MASs under directed and time-invariant communication graphs.…”

Consensus of Discrete-Time Nonlinear Multiagent Systems Using Sliding Mode Control Based on Optimal Control

“…[19] proposed two consensus methods for first-and second-order discrete-time linear heterogeneous integrator MASs, respectively. Since the nonlinearity of the system is more practical [20], [21] proposed a distributed consensus control protocol for highorder nonlinear discrete-time MASs containing mismatched disturbances, using inversion techniques that do not require Laplace matrix information and Lippincott restrictions. Due to the limited communication distance and communication channel capacity between actual agents, [22] investigated the leader-follower H-infinite consensus problem for nonlinear VOLUME 4, 2016 discrete-time MASs containing time lag, interference and parameter uncertainty, and designed an output feedback control protocol that enables MASs to achieve leader-follower state consensus.…”