Distributed Output Feedback Leader-Following Control for High-Order Nonlinear Multiagent System Using Dynamic Gain Method

摘要

In this paper, the distributed output feedback leader-following control is investigated for high-order nonlinear multiagent systems (MASs) using the dynamic gain method. The linear-like distributed output feedback controller is designed without using the recursive method to overcome the "explosion of complexity" problem and further relax the conditions on the nonlinear functions of the MASs. First, the distributed reduced order dynamic gain observer is constructed for the ith agent to estimate its unmeasured state variables, in which the output information of its neighbors are used. Second, the linear-like output feedback controller is designed such that the outputs of the followers track the leader's output, and the tracking error could be arbitrarily small. Finally, the simulation examples are given to illustrate the effectiveness of the proposed method.