SUMMARYThe consensus of higher-order nonlinear heterogeneous multiagent systems with matched and unmatched uncertainties is studied in this paper. The distributed observer-based controllers for multiagent systems are achieved using a fixed-time sliding mode controller based on the disturbance observer. For this purpose, the disturbance observers are designed for finite-time estimation of matched and unmatched uncertainties. Using the estimated values, the fixed-time distributed sliding mode controllers are designed and the consensus protocol is achieved. In this regard, a theorem is proved, which guarantees the fixed-time convergence of consensus errors. The effectiveness of the proposed distributed controllers has been validated through simulations for two robotic multiagent systems and a numerical example.

中文翻译：

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具有无与伦比不确定性的高阶非线性异构多智能体系统的基于观察者的共识：在机器人系统上的应用

摘要本文研究了具有匹配和不匹配不确定性的高阶非线性异构多智能体系统的一致性。多智能体系统的分布式基于观测器的控制器是使用基于扰动观测器的固定时间滑模控制器来实现的。为此目的，扰动观测器被设计用于匹配和不匹配不确定性的有限时间估计。利用估计值，设计了固定时间的分布式滑模控制器，并实现了共识协议。在这方面，证明了一个定理，它保证了共识错误的固定时间收敛。所提出的分布式控制器的有效性已经通过对两个机器人多智能体系统的模拟和一个数值示例进行了验证。