# American Institute of Mathematical Sciences

April  2021, 14(4): 1535-1551. doi: 10.3934/dcdss.2020396

## 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

Received  October 2019 Revised  April 2020 Published  June 2020

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

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.

Citation: Ke Yang, Wencheng Zou, Zhengrong Xiang, Ronghao Wang. Fully distributed consensus for higher-order nonlinear multi-agent systems with unmatched disturbances. Discrete & Continuous Dynamical Systems - S, 2021, 14 (4) : 1535-1551. doi: 10.3934/dcdss.2020396
##### References:

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##### References:
The topology of the multi-agent system
Position states of agents
Velocity states of agents
Acceleration states of agents
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