Output feedback consensus control for fractional-order nonlinear multi-agent systems with directed topologies

Abstract(#br)This paper is devoted to the output feedback consensus control problem for a class of nonlinear fractional-order multi-agent systems (MASs) with general directed topologies. It is worth noting that the considered fractional-order MASs including the second-order MASs as special cases. By introducing a distributed filter for each agent, a control algorithm uses only relative position measurements is proposed to guarantee the global leaderless consensus can be achieved. Also the derived results are further extended to consensus tracking problem with a leader whose input is unknown and bounded. Finally, two simulation examples are provided to verify the performance of the control design

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

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