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

Ke Yang; Wencheng Zou; Zhengrong Xiang; Ronghao Wang

doi:10.3934/dcdss.2020396

Article Contents

2021, Volume 14, Issue 4: 1535-1551. Doi: 10.3934/dcdss.2020396

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

1.
School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
2.
National Defense Engineering College, Army Engineering University, Nanjing 210007, China

^* Corresponding author: Zhengrong Xiang
^* Corresponding author: Zhengrong Xiang

Received: September 30, 2019

Revised: March 31, 2020

Early access: June 2020

Published: April 2021

This work was supported by the National Natural Science Foundation of China number 61873128 and 61603414

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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.

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Mathematics Subject Classification: Primary: 58F15, 58F17; Secondary: 53C35.

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Figure 1. The topology of the multi-agent system

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Figure 2. Position states of agents

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Figure 3. Velocity states of agents

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Figure 4. Acceleration states of agents

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