High-Gain Observer-Based Distributed Tracking Control of Heterogeneous Nonlinear Multi-Agent Systems
Almuatazbellah Boker, Chengzhi Yuan · 2018
We address the problem of leader-follower tracking control of nonlinear multi-agent systems. The considered heterogeneous models of the agents and the leader are allowed to be uncertain and can accept unknown bounded disturbances. In addition, the leader's position is only known to its immediate neighbors. Given this setting, a high-gain observer-based output feedback control system is designed that achieves ultimate boundedness of closed-loop system trajectories. Moreover, the ultimate bound can be made arbitrarily small. The output feedback control system can also recover the trajectories of the state feedback control performance when the observer gain be made sufficiently large. The design procedure is demonstrated by a simulation example for a number of interconnected Van der Pol oscillators.