Flocking with connectivity preservation for disturbed nonlinear multi-agent systems by output feedback
Ping Li, Baoyong Zhang, Qian Ma, Shengyuan Xu, Weimin Chen, Zhengqiang Zhang · International Journal of Control · 2017
This paper considers the problem of flocking with connectivity preservation for a class of disturbed nonlinear multi-agent systems. In order to deal with the nonlinearities in the dynamic of all agents, some auxiliary variables are introduced into the state observer for stability analysis. By proposing a bounded potential function and using adaptive theory, a novel output feedback consensus algorithm is developed to guarantee that the states of all agents achieve flocking with connectivity preservation.