Distributed Output-Feedback Asymptotic Consensus Tracking for High-Order Multiagent Systems With Quantized Input
针对输入量化的不确定高阶多智能体系统，提出基于输出反馈的分布式自适应渐近一致性跟踪控制方法，通过改进K-滤波器和动态参数滤波器消除未测状态依赖非线性和滤波器误差，实现跟踪误差渐近收敛到零。
This article is devoted to distributed adaptive asymptotic consensus tracking control based on output feedback for the uncertain high-order multiagent systems with input quantization. Compared with the output-feedback canonical form, the system takes unmeasured states-dependent nonlinearities into account and also includes unknown parameters and quantized input. The improved K -filters with one dynamic gain are constructed to dispose the unmeasured states-dependent nonlinearities and estimate the unknown states. Then, the novel recursive control strategy with the aid of new first-order dynamic parameter filters is proposed, which is able to effectively counteract the filter errors and steer the consensus tracking errors to zero asymptotically with low design complexity. Moreover, the new funnel variable combined with prespecified time performance function is first introduced, which can predefine practical transition time and maximum overshoot of consensus error. Finally, simulation results are presented to illustrate the validity and superiority of the proposed scheme.