Stationary Consensus Control of a Class of High-Order Uncertain Nonlinear Agents With Communication Delays
针对一类高阶非线性多智能体系统，提出一种鲁棒协议，在模型不确定性和有界常数通信时滞下实现位置一致性。
Achieving consensus over a class of high-order nonlinear multiagent systems in the Brunovsky form under directed networks is studied. By introducing coupled sliding-mode controllers, a robust protocol is addressed under which agents achieve agreement upon their positions in the presence of model uncertainties. The main contribution of this correspondence paper compared with similar existing studies is to guarantee achieving consensus in networks of agents in the presence of uncertain nonlinearities in agents models. Moreover, it is shown that consensus is achieved in the presence of any bounded constant communication delays. The results are validated by a numerical example.