Synchronization of nonlinear multi-agent systems via exact feedback linearization
Branislav Rehák, Volodymyr Lynnyk · 2020
Synchronization of a multi-agent system composed of identical nonlinear agents admitting exact feedback linearization is presented. The agents may not be fully linearizable, however, if they are minimum-phase systems, synchronization is achieved. Both leader-following as well as the consensus problem are treated. In the latter case, it is guaranteed that the average dynamics equals to the dynamics of one agent. The results are illustrated by an example.