This paper is concerned with the leaderless output consensus control problem for uncertain nonlinear multi-agent systems with mismatched unknown parameters. Different from currently available results, the considered agents are allowed to have heterogenous and arbitrary system orders. To solve such consensus problem, a novel distributed reference system, whose output serves as a local reference signal, is first designed for each agent. Then, under directed interaction topology condition, a fully distributed leaderless output consensus control scheme is proposed based on adaptive backstepping technique, by using only relative outputs of neighboring agents. It is shown that with the proposed control scheme, all the closed-loop signals are globally uniformly bounded and all the agents’ outputs can reach consensus. Finally, an application example is utilized to verify the effectiveness of the proposed control scheme.

中文翻译：

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具有异构系统阶数的不确定非线性多智能体系统的分布式自适应无领导输出一致性


本文关注未知参数不匹配的不确定非线性多智能体系统的无领导输出一致性控制问题。与当前可用的结果不同，所考虑的 agent 被允许具有异构和任意的系统顺序。为了解决这种共识问题，首先为每个智能体设计了一种新的分布式参考系统，其输出用作本地参考信号。然后，在有向交互拓扑条件下，提出了一种基于自适应反步技术的全分布式无领导输出共识控制方案，仅使用相邻智能体的相对输出。结果表明，使用所提出的控制方案，所有闭环信号都是全局均匀有界的，并且所有代理体的输出都可以达成共识。最后，利用一个应用实例来验证所提出的控制方案的有效性。