Second‐order consensus for nonlinear leader‐following multi‐agent systems via dynamic output feedback control
Haibo Du, Yingying Cheng, Yigang He, Ruting Jia · International Journal of Robust and Nonlinear Control · 2015
Summary The second‐order consensus problem of nonlinear leader‐following multi‐agent systems is investigated in this paper. To solve the case that the velocities of all agents cannot be measured and the nonlinearity is unknown, an observer‐based dynamic output feedback controller is proposed based on a non‐separation principle method. Using the feedback domination technique, it is shown that the systems output can reach consensus by choosing appropriate gains. Two examples are given to verify the efficiency of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd.