Stubborn Observer for Leader-Following Consensus of Nonlinear Multiagent Systems With Application to Spacecraft
针对存在传输异常值的非线性多智能体系统，提出两种分布式顽固降阶观测器来估计领导者跟随一致性误差，并利用拉普拉斯矩阵建立充分条件确保系统在有向拓扑下达成一致性，最后以多航天器系统验证方法有效性。
In this article, the leader-following consensus problem is investigated for a class of nonlinear multiagent systems with transmission outliers. First, through the relative output information and observer states of neighbor agents, a distributed stubborn reduced-order observer is proposed to estimate the leader-following consensus error which is affected by abnormal and isolated transmission outliers. Moreover, considering that the leader agent in practice is a controllable plant, another distributed stubborn reduced-order observer is designed by using the relative information and inputs of neighbor agents. Sufficient conditions are established in terms of the Laplacian matrix such that two stubborn reduced-order observers are convergent and the studied nonlinear multiagent system could achieve leader-following consensus with directed topology. Finally, an example of the multispacecraft system is provided to illustrate the effectiveness of the proposed methodology.