This paper is devoted to solving the output consensus problem of leader-follower higher-order nonlinear multiagent systems subject to mismatched disturbances. The disturbances are allowed to be in higher-order forms. First, by constructing a generalized proportional-integral observer for each follower, estimates of the disturbances and their derivatives are obtained. At the same time, a distributed observer is also developed for the followers to estimate the leader state information. Second, based on the estimates of the disturbances and the leader state, together with the backstepping technique, a feedforward-feedback composite consensus control scheme is proposed. The designed distributed protocols guarantee asymptotic output consensus for the agents. Simulation results validate the effectiveness of the proposed composite control scheme.

中文翻译：

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失配扰动下Leader__ollower高阶非线性多智能体系统的复合反步共识算法


本文致力于解决受失配扰动影响的领导者-跟随者高阶非线性多智能体系统的输出一致性问题。允许扰动采用高阶形式。首先，通过为每个跟随器构造广义比例积分观测器，获得扰动及其导数的估计。同时，还开发了分布式观察者，供跟随者估计领导者状态信息。其次，基于扰动和领导状态的估计，结合反步技术，提出了前馈-反馈复合一致性控制方案。设计的分布式协议保证代理的渐近输出一致性。仿真结果验证了所提出的复合控制方案的有效性。