Abstract
This paper deals with the leader-following consensus problem for a class of second-order nonlinear multi-agent systems by output feedback. The communication topology is characterized by a Markovian switching graph. Firstly, an input-driven observer is introduced to estimate the consensus error of each follower agent. Then, a cooperative nonlinear control law is constructed using the relative output information between neighboring agents by employing the backstepping methodology, which achieves leader-following consensus in mean square sense. Compared with the existing results, the nonlinear functions are required to satisfy polynomial growth condition rather than globally Lipschitz growth or Lipschitz-like growth condition. A numerical example is given to illustrate the theoretical results.
Acknowledgements
The authors are grateful to the editor, the associate editor and the anonymous referees for very helpful suggestions and comments.
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Correction Statement
This article has been corrected with minor changes. These changes do not impact the academic content of the article.
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Chuanrui Wang
Chuanrui Wang received his Ph.D. degree in Control Theory and Engineering from University of Science and Technology of China in 2014. He is currently an engineer in Shanghai Zhongchuan SDT-NERC Co., Ltd. His research interests include nonlinear control.
Hua Zhang
Hua Zhang received the B.S. degree in Mechanical Engineering from Naval University of Engineering in 2009. He is currently an engineer in Shanghai Zhongchuan SDT-NERC Co., Ltd. and Marine Design and Research Institute of China. His research interests include ship information system integration.
Shuai Zhang
Shuai Zhang received his M.S. degree from Shanghai Maritime University in 2015. He is currently an engineer in Shanghai Zhongchuan SDT-NERC Co., Ltd. His research interests include ship intelligent control system.