Semi-global consensus of nonlinear second-order multi-agent systems with measurement output feedback

Title: Semi-global consensus of nonlinear second-order multi-agent systems with measurement output feedback
Creator: Fan, Ming-Can; Chen, Zhiyong; Zhang, Hai-Tao
Relation: ARC.DP130103039
Relation: IEEE Transactions on Automatic Control Vol. 59, Issue 8, p. 2222-2227
Publisher Link: http://dx.doi.org/10.1109/TAC.2014.2299351
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2014
Description: This note addresses a leader-follower consensus control problem for second-order multi-agent systems in a complicated scenario where the agent states are partially measurable and the agent dynamics are intrinsically nonlinear. More specifically, when the states of an agent are not fully measurable, a measurement output is thus defined. As a typical example, the measurement output is defined as the position of an agent while its velocity is unmeasurable. We propose a measurement output feedback controller with a dynamic observer for the unmeasurable states. Moreover, the proposed controller with sufficiently large but explicitly designed gains is able to deal with system nonlinearities when the region of attraction is semi-globally specified.
Subject: consensus; cooperative control; nonlinear systems; output feedback
Identifier: http://hdl.handle.net/1959.13/1297254
Identifier: uon:19407
Identifier: ISSN:0018-9286
Language: eng
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