Output-Feedback-Based Adaptive Leaderless Consensus for Heterogenous Nonlinear Multiagent Systems With Switching Topologies
研究了异构非线性多智能体系统在切换拓扑下的无领导者输出一致性控制问题，提出了一种基于输出反馈的自适应控制方案，无需共享系统状态和参数，降低了通信负担。
This article investigates the leaderless output consensus control problem for a class of nonlinear multiagent systems with heterogenous system orders and unmatched unknown parameters via output-feedback control. The interaction topology among the agents is undirected and jointly connected. Due to the heterogenous system orders and switching topology among the agents, the classical distributed adaptive backstepping-based control technique cannot be applied to solve the problem considered in this article. To solve this issue, a novel distributed reference system is first proposed for each agent, by using only relative outputs of the neighboring agents. Subsequently, a fully distributed reference system-based adaptive leaderless output consensus control scheme is designed via output-feedback control. A remarkable merit of the proposed control scheme lies in that precisely known nonlinear dynamics, system states, distributed parameter estimates, and the states of virtual reference system are no longer needed to be shared with neighbors. This implies that the communication burden can be effectively alleviated, and even the communication network can be replaced by some perception sensors. Finally, two illustrative examples are provided to verify the effectiveness of the proposed control scheme.