This article considers the data rate problem for output feedback consensus of uncertain nonlinear multiagent systems. Each agent is modeled by an nth order integrator with unknown nonlinear dynamics and unmeasurable states. An (n+2)th order extended state observer (ESO) is first designed to estimate the unmeasurable agent states and the unknown nonlinear dynamics. Based on the output of the ESO and a dynamic encoding and decoding scheme, a distributed consensus protocol is proposed. It is shown that, for a connected undirected network with nth order uncertain nonlinear agents, consensus can be guaranteed with merely one bit information exchange between each pair of adjacent agents at each time step.

中文翻译：

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不确定非线性多主体系统输出反馈一致性的数据速率

本文考虑了不确定的非线性多主体系统的输出反馈一致性的数据速率问题。每个智能体都由一个n阶积分器建模，具有未知的非线性动力学和无法测量的状态。首先设计一个（n +2）阶扩展状态观察器（ESO）来估计不可测量的主体状态和未知的非线性动力学。基于ESO的输出和动态编解码方案，提出了一种分布式共识协议。结果表明，对于具有n阶不确定非线性主体的连通无向网络，在每个时间步长上，每对相邻主体之间仅进行一位信息交换，就可以保证共识。