In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics, nonvanishing disturbances and unknown control directions under directed networks. A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents' states. In view of this property, a distributed robust integral of the sign of the error (DRISE) design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus, but also the uniform boundedness of all closed-loop variables. Compared with the traditional sliding mode control (SMC) technique, the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering behavior. Simulation results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.

中文翻译：

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具有零干扰的非仿射系统的定向网络的分布式渐近共识。

本文针对有向动力学下具有不确定动力学，无消失扰动和未知控制方向的一组高阶非仿射智能体，解决了分布式渐近共识问题。首先引入一类辅助变量，该辅助变量形成二阶滤波器，并引发代理状态的所有可测量信号。鉴于此属性，提出了一种误差符号（DRISE）设计与Nussbaum型函数相结合的分布式鲁棒积分，不仅保证了所需的渐近共识，而且还保证了所有闭环变量的一致有界性。与传统的滑模控制（SMC）技术相比，我们方法的主要特点是，所提出的控制算法中的积分运算被设计为以连续方式采用，并确保了较少的颤动行为。一组Duffing-Holmes混沌系统的仿真结果被用来验证我们的理论分析。