Composite Backstepping Consensus Algorithms of Leader-Follower Higher-Order Nonlinear Multiagent Systems Subject to Mismatched Disturbances

• Published in: IEEE transactions on cybernetics Vol. 48; no. 6; pp. 1935 - 1946
• Main Authors: Wang, Xiangyu, Li, Shihua, Chen, Michael Z. Q.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Backstepping; Computer simulation; Control design; Control theory; Disturbances; Feedback control; Feedforward control; feedforward-feedback composite control; generalized proportional integral observer; higher-order nonlinear multiagent systems; mismatched disturbances; Multi-agent systems; Multiagent systems; Nonlinear systems; Observers; output consensus; Protocols
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2017.2720680

This paper is devoted to solving the output consensus problem of leader-follower higher-order nonlinear multiagent systems subject to mismatched disturbances. The disturbances are allowed to be in higher-order forms. First, by constructing a generalized proportional-integral observer for each follower, estimates of the disturbances and their derivatives are obtained. At the same time, a distributed observer is also developed for the followers to estimate the leader state information. Second, based on the estimates of the disturbances and the leader state, together with the backstepping technique, a feedforward-feedback composite consensus control scheme is proposed. The designed distributed protocols guarantee asymptotic output consensus for the agents. Simulation results validate the effectiveness of the proposed composite control scheme.