2020/06/01 by Wang, Gang, Wang, Chaoli, Ding, Zhengtao +1
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2006.00762
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely unknown high-frequency gains, and external disturbances. The main contribution of this brief is to present a new distributed consensus algorithm, enabling the control input of each agent to require minimal information from its neighboring agents, that is, only their output information. To this end, a dynamic system is explicitly constructed for each agent to generate a reference output. Theoretical and simulation verifications of the proposed algorithm are rigorously studied to ensure that asymptotic consensus can be achieved and that all closed-loop signals remain bounded.