IEEE Trans Cybern. 2017 Aug;47(8):2032-2043. doi: 10.1109/TCYB.2017.2655054. Epub 2017 Jan 31.
In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.
本文研究了一类具有固定无向图和固定有向图的高阶非线性多智能体系统的输出反馈分布式牵制控制问题。系统的输出信号只能被测量。通过构建新的降阶动态增益观测器，利用非线性项的较少保守条件（传统的 Lipschitz 条件）来估计系统的不可测状态变量。通过反推法，为跟随者设计了输出反馈分布式非线性控制器。通过新型的第一虚拟控制器，我们将不同智能体的估计状态变量相互分离。因此，设计的控制器除了输出信息外，彼此之间独立于邻居的估计状态变量，并且每个智能体的动力学可以有很大的不同，这使得设计方法具有更广泛的应用范围。最后，通过数值仿真验证了所提出方法的有效性。
