Observer-Based Adaptive Consensus for a Class of Nonlinear Multiagent Systems
针对状态不可测且动态为严格反馈形式的非线性多智能体系统，利用神经网络设计观测器估计状态，基于邻居相对输出信息构造自适应协议，实现实际一致性。
This paper investigates an adaptive consensus problem of a class of nonlinear multiagent systems in which the states are unmeasurable and the dynamics of all agents are supposed to be in strict-feedback form with unknown time-varying control coefficients. Due to the presence of uncertain nonlinearities in agents' dynamics, radial basis function neural networks are used to approximate the unknown nonlinear functions, and a neural-network-based observer is designed to estimate the unmeasured states. The adaptive observer-based protocols are based on the relative output information of neighbors, and are constructed by adopting the dynamic surface control technique. It is proved that practical consensus of the system can be achieved with the proposed protocols. A simulation example is given to show the effectiveness of the proposed method.