Output consensus of homogeneous multi-agent nonlinear systems
Dabo Xu, Xinghu Wang, Yiguang Hong · 2014
The purpose of this paper is to address a distributed output consensus design for a class of homogeneous and minimum phase leader-following multi-agent nonlinear systems. When the information digraph contains a directed spanning tree with the leader node as the root, it is shown that the problem can be approached by incorporating a single host internal model. An output feedback based Lyapunov protocol is developed. An example is also given to show the efficiency of the design.