IEEE Trans Cybern. 2016 Jul;46(7):1591-601. doi: 10.1109/TCYB.2015.2452217. Epub 2015 Aug 25.
Combined with backstepping techniques, an observer-based adaptive consensus tracking control strategy is developed for a class of high-order nonlinear multiagent systems, of which each follower agent is modeled in a semi-strict-feedback form. By constructing the neural network-based state observer for each follower, the proposed consensus control method solves the unmeasurable state problem of high-order nonlinear multiagent systems. The control algorithm can guarantee that all signals of the multiagent system are semi-globally uniformly ultimately bounded and all outputs can synchronously track a reference signal to a desired accuracy. A simulation example is carried out to further demonstrate the effectiveness of the proposed consensus control method.
结合反推技术，为一类高阶非线性多智能体系统设计了一种基于观测器的自适应共识跟踪控制策略，其中每个跟随者智能体都采用半严格反馈形式建模。通过为每个跟随者构建基于神经网络的状态观测器，所提出的共识控制方法解决了高阶非线性多智能体系统中不可测量状态的问题。控制算法可以保证多智能体系统的所有信号都是半全局一致最终有界的，并且所有输出都可以同步跟踪参考信号到期望的精度。通过仿真示例进一步验证了所提出的共识控制方法的有效性。
