Distributed consensus control of nonlinear multi-agent systems with sensor uncertainty

• Main Authors: Li, Hanfeng, Xie, Lihua, Zhang, Xianfu, Pan, Weihao
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Consensus Control; Nonlinear Multi-Agent Systems
• Online Access: https://hdl.handle.net/10356/164658
• Institution: Nanyang Technological University

This article focuses on the distributed consensus control problem for nonlinear multi-agent systems subject to sensor uncertainty. To be specific, we study nonlinear multi-agent systems of lower or upper triangular structure with unknown growth rate and sensor uncertainty. A new time-varying gain approach is proposed to construct observers as well as distributed output-feedback controllers. By selecting suitable design parameters, the leader-follower consensus of nonlinear multi-agent systems is achieved. Different from the existing results, a time-varying function in a logarithmic form is introduced to deal with unknown growth rate. Moreover, a monotonically increasing time-varying function is constructed to cope with uncertain sensor sensitivity. Two simulation examples are provided to demonstrate the effectiveness of the proposed distributed consensus control algorithms.