Global robust distributed output consensus of multi-agent nonlinear systems: An internal model approach

详细信息    查看全文

• 作者：Dabo Xu^a ; ^{xu.dabo@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Xinghu Wang^b ; ^{xinghuw@ustc.edu.cn" class="auth_mail" title="E-mail the corresponding author} ; Yiguang Hong^c ; ^{yghong@iss.ac.cn" class="auth_mail" title="E-mail the corresponding author} ; Zhong-Ping Jiang^d ; ^{zjiang@nyu.edu" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Nonlinear systems ; Multi-agent systems ; Consensus ; Distributed stabilization
• 刊名：Systems & Control Letters
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：87
• 期：Complete
• 页码：64-69
• 全文大小：485 K

文摘

This paper studies the problem of global robust distributed output consensus of heterogeneous leader–follower multi-agent nonlinear systems by general directed output interactions. For a class of minimum-phase single-input single-output nonlinear agents having unity relative degree, it is shown that the problem is solvable by an internal model approach under certain mild conditions. A Lyapunov function based output-feedback control law is developed by converting the global output consensus into a global distributed stabilization problem for an augmented network.