An Improved Distributed Nonlinear Observers for Leader-Following Consensus via Differential Geometry Approach
提出一组几何条件来设计改进的分布式非线性观测器，解决了传统方法无法处理的非线性领导系统（如弹性轴单连杆机械臂系统）的跟随一致性控制问题，并证明了误差动态的指数稳定性。
This article is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. Instead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a novel distributed observers strategy, thereby definitely improving the applicability of the existing results. To be more specific, the improved distributed observers can precisely handle consensus problems for some nonlinear leader systems, which are invalid for the traditional strategies with a certain assumption, such as elastic shaft single linkage manipulator (ESSLM) systems and most of the first-order nonlinear systems. We prove the sufficient conditions for the exponential stability of our distributed observers’ error dynamic by proposing two pioneered lemmas to show the relationship between the maximum eigenvalues of two matrices appearing in Lyapunov type matrices. Then, a partial feedback linearization method with zero dynamic proposed in differential geometry is employed to design the purely decentralized control law for the affine nonlinear multiagent system. With this advancement, the existing results can be regarded as a specific case owing to that the followers can be chosen as an arbitrary minimum phase affine smooth nonlinear system. At last, the novel distributed observers and the improved purely decentralized control law are applied in the distributed control framework to construct a closed-loop system. We also prove the stability of the closed-loop system to achieve leader-following consensus. Our method is illustrated by the ESSLM system and Van der Pol system as leaders.