Observer-Based Consensus of Higher-Order Nonlinear Heterogeneous Multiagent Systems with Unmatched Uncertainties: Application on Robotic Systems

摘要

The consensus of higher-order nonlinear heterogeneous multiagent systems with matched and unmatched uncertainties is studied in this paper. The distributed observer-based controllers for multiagent systems are achieved using a fixed-time sliding mode controller based on the disturbance observer. For this purpose, the disturbance observers are designed for finite-time estimation of matched and unmatched uncertainties. Using the estimated values, the fixed-time distributed sliding mode controllers are designed and the consensus protocol is achieved. In this regard, a theorem is proved, which guarantees the fixed-time convergence of consensus errors. The effectiveness of the proposed distributed controllers has been validated through simulations for two robotic multiagent systems and a numerical example.