Consensus control of feedforward nonlinear multi-agent systems:a time-varying gain method

作     者：Hanfeng Li Xianfu Zhang Weihao Pan Hanfeng Li;Xianfu Zhang;Weihao Pan

作者机构：School of Control Science and EngineeringShandong UniversityJinan250061ShandongChina 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2022年第20卷第1期

页      面：46-53页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：the National Natural Science Foundation of China(Nos.61973189,62073190) the Research Fund for the Taishan Scholar Project of Shandong Province of China(No.ts20190905) the Natural Science Foundation of Shandong Province of China(No.ZR2020ZD25) 

主　　题：Consensus control Nonlinear multi-agent systems Time-varying gain Output feedback 

摘      要：In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying *** agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower *** on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its *** is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus *** effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.