Output feedback-based consensus control for nonlinear time delay multiagent systems

On designing a distributed event‐triggered output feedback consensus protocol for nonlinear multiagent systems

“…In this article, the following graph theory is provided. 18,26 • A topology is given as ℬ = (, ), where  = { 1 ,  2 , … ,  N } is a finite nonempty node set.  =  ×  is a topological edge set, and ( i ,  j ) ∈  shows that there is an edge from nodes i to j.…”

“…27,28 There are some excellent results on the nonlinear multiagent system (1). 16,18 Some practical control systems, such as the chemical reactors 29 and the pendulum systems 30 can be modeled as system (1). From Assumption 1, one can obtain that the nonlinear function satisfies the Lipschitz condition.…”

“…The nonlinear functions of each follower have the same form as that of the leader, which is a necessary assumption to achieve the leader-follower consensus. 16 Compared with the assumption on the functions f k , k = 1, 2, … , n, of the work, 18 the condition (2) is more general due to the fact that is unknown. Moreover, different from the work, 16 the event-triggered controllers are designed for system (1), which reduces the information transmission and saves the communication bandwidth.…”

“…The matrix B is Hurwitz by choosing the suitable coefficients of the Hurwitz polynomials i,1 ( ) and i,2 ( ). 18,31 Therefore, there are a positive definite matrix P = diag [P 1 , P 2 , … , P N ] , P i ∈ R 2n×2n , i = 1, 2, … , N, and two positive constants and , such that…”

“…The time-varying gain control approach is constantly used to investigate the leader-follower consensus problem of nonlinear multiagent systems. The appropriate state transformations were introduced in works, [16][17][18] and the leader-follower consensus problem was converted into the construct problem of the time-varying gain. It is worth mentioning that the time-varying gain controller is potent to deal with the effects of the unknown parameters.…”