A Distributed Observer for a Class of Nonlinear Systems and Its Application to a Leader-Following Consensus Problem
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AbstractIn this note, we first present a framework for designing a distributed control law to solve a cooperative control problem of nonlinear multiagent systems with a nonlinear leader system. The distributed control law is composed of a purely decentralized control law and a distributed observer for the leader system, based on the certainty equivalence principle. Then, we establish a sufficient condition to guarantee the existence of a distributed observer for a class of nonlinear autonomous systems. The framework is then applied to solve the leader-following consensus problem for a class of high-order nonlinear heterogeneous multiagent systems subject to external disturbances. Our design is illustrated by an example with the Van der Pol system as the leader system.
All Author(s) ListLiu T, Huang J
Journal nameIEEE Transactions on Automatic Control
Volume Number64
Issue Number3
Pages1221 - 1227
LanguagesEnglish-United Kingdom
KeywordsCooperative control, leader-following consensus, nonlinear distributed observer, output regulation
Web of Science Subject CategoriesAutomation & Control Systems;Engineering, Electrical & Electronic;Automation & Control Systems;Engineering

Last updated on 2020-29-03 at 23:55