Distributed consensus tracking for nonlinear multiagent systems with a high-dimensional leader and intermittent communications

摘要

In the present note, distributed consensus tracking problem of multi-agent systems (MASs) is discussed, where the leader under consideration has high-dimensional nonlinear dynamics. Using the relative local information between followers and their neighbors, a distributed controller together with an observer is designed for each follower. However, due to actuator failures and packets loss, the information transmitted intermittently among the agents. That is, intermittent controller and observer are utilized. Under the assumption that the fixed communication graph contains a directed spanning tree, it is shown that consensus can be achieved by choosing appropriate feedback gain matrix and coupling strength. In particular, an algorithm is given for choosing these control parameters. Finally, a simulation example is performed to verify the validity of the theoretical results.