Cooperative output feedback consensus control of second-order nonlinear multi-agent systems under Markovian switching topologies  

作　　者：Chuanrui Wang Hua Zhang Shuai Zhang 

机构地区：[1]Shanghai Zhongchuan SDT-NERC Co.,Ltd.,Shanghai,People’s Republic of China [2]Marine Design and Research Institute of China,Shanghai,People’s Republic of China

出　　处：《Journal of Control and Decision》2023年第4期476-483,共8页控制与决策学报（英文）

基　　金：supported by Science and Technology Commission of Shanghai Municipality(No.20dz1207000).

摘　　要：This paper deals with the leader-following consensus problem for a class of second-order nonlinear multi-agent systems by output feedback.The communication topology is characterized by a Markovian switching graph.Firstly,an input-driven observer is introduced to estimate the consensus error of each follower agent.Then,a cooperative nonlinear control law is constructed using the relative output information between neighboring agents by employing the backstepping methodology,which achievesleader-following consensusin mean square sense.Compared with the existing results,the nonlinear functions are required to satisfy polynomial growth condition rather than globally Lipschitz growth or Lipschitz-like growth condition.A numerical example is given to illustrate the theoretical results.

关 键 词：Multi-agent systems nonlinear systems Markovian switching topology output feedback 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]