IEEE Trans Cybern. 2020 Feb;50(2):640-649. doi: 10.1109/TCYB.2018.2870543. Epub 2019 Jan 30.
In this paper, the distributed output feedback leader-following control is investigated for high-order nonlinear multiagent systems (MASs) using the dynamic gain method. The linear-like distributed output feedback controller is designed without using the recursive method to overcome the "explosion of complexity" problem and further relax the conditions on the nonlinear functions of the MASs. First, the distributed reduced order dynamic gain observer is constructed for the i th agent to estimate its unmeasured state variables, in which the output information of its neighbors are used. Second, the linear-like output feedback controller is designed such that the outputs of the followers track the leader's output, and the tracking error could be arbitrarily small. Finally, the simulation examples are given to illustrate the effectiveness of the proposed method.
本文采用动态增益法研究了高阶非线性多智能体系统（MASs）的分布式输出反馈领导-跟随控制。设计了线性似的分布式输出反馈控制器，不使用递归方法来克服“复杂性爆炸”问题，并进一步放宽 MASs 非线性函数的条件。首先，为第 i 个智能体构造分布式降阶动态增益观测器，以估计其不可测状态变量，其中使用了邻居的输出信息。其次，设计了线性似的输出反馈控制器，使得跟随器的输出跟踪领导者的输出，并且跟踪误差可以任意小。最后，给出了仿真示例，以验证所提出方法的有效性。
