Semi-global leader-following consensus of nonlinear multi-agent systems with actuating disturbances
Xinghu Wang, Dabo Xu, Yiguang Hong · 2014
In this paper, a distributed semi-global consensus problem is studied for a class of nonlinear multi-agent systems with actuating disturbances. The problem is approached by a two-layer networked distributed control design, containing a configurable internal model network. A sufficient condition is presented for an output-feedback consensus protocol design.