Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems
针对高阶非线性多智能体系统，在固定无向和有向图下，仅利用输出信号，通过构建降阶动态增益观测器和反步法设计分布式控制器，实现包含控制，且控制器不依赖邻居的估计状态，适用范围更广。
In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.