A Distributed Observer for a Class of Nonlinear Systems and Its Application to a Leader-Following Consensus Problem

In 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 l...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 64; no. 3; pp. 1221 - 1227
Main Authors Liu, Tao, Huang, Jie
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Communication networks
Control systems
Control theory
Cooperative control
Decentralized control
Equivalence principle
leader-following consensus
Linear systems
Multi-agent systems
Multiagent systems
Nickel
Nonlinear control
nonlinear distributed observer
Nonlinear systems
Observers
output regulation
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Summary:In 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.
Bibliography:ObjectType-Article-1
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content type line 14
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2018.2844688