Leader-Following Consensus for High-Order Nonlinear Stochastic Multiagent Systems.

This paper considers the distributed consensus tracking problem for a class of high-order stochastic multiagent systems with uncertain nonlinear functions under a fixed undirected graph. Through the recursive method, the novel nonlinear distributed controllers are designed. By constructing a kind of special form for the virtual controller in the first step of recursive design, we realize that the state variables of every agent are separated except the outputs of the adjacency agents. The designed controller of each agent only depends on its own state variables and the outputs of the adjacent multiagents. With the proposed method, it is not required any more that the orders of the agents are same. This makes the designed controller be easier to be implemented and the proposed method be applicable for a wider class of multiagent systems. The efficiency of the design approach is illustrated by a simulation example.