This article investigates the leaderless output consensus control problem for a class of nonlinear multiagent systems with heterogenous system orders and unmatched unknown parameters via output-feedback control. The interaction topology among the agents is undirected and jointly connected. Due to the heterogenous system orders and switching topology among the agents, the classical distributed adaptive backstepping-based control technique cannot be applied to solve the problem considered in this article. To solve this issue, a novel distributed reference system is first proposed for each agent, by using only relative outputs of the neighboring agents. Subsequently, a fully distributed reference system-based adaptive leaderless output consensus control scheme is designed via output-feedback control. A remarkable merit of the proposed control scheme lies in that precisely known nonlinear dynamics, system states, distributed parameter estimates, and the states of virtual reference system are no longer needed to be shared with neighbors. This implies that the communication burden can be effectively alleviated, and even the communication network can be replaced by some perception sensors. Finally, two illustrative examples are provided to verify the effectiveness of the proposed control scheme.

中文翻译：

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具有切换拓扑的异构非线性多智能体系统的基于输出反馈的自适应无领导共识


本文通过输出反馈控制研究了一类具有异构系统阶数和不匹配未知参数的非线性多智能体系统的无领导输出一致控制问题。代理之间的交互拓扑是无向且共同连接的。由于异构系统阶数和代理之间的切换拓扑，经典的基于分布式自适应反步的控制技术无法应用于解决本文所考虑的问题。为了解决这个问题，首先为每个智能体提出了一种新颖的分布式参考系统，仅使用相邻智能体的相对输出。随后，通过输出反馈控制设计了基于全分布式参考系统的自适应无领导者输出一致性控制方案。所提出的控制方案的显着优点在于，不再需要与邻居共享精确已知的非线性动力学、系统状态、分布参数估计和虚拟参考系统的状态。这意味着通信负担可以得到有效减轻，甚至通信网络可以被一些感知传感器取代。最后，提供了两个说明性例子来验证所提出的控制方案的有效性。