Finite-time output feedback leader-following consensus for high-order time-varying nonlinear multi-agent systems

Abstract

This paper addresses the finite-time leader-following output-feedback consensus problem for a class of high-order nonlinear multi-agent systems. The agents dynamics are supposed to be in lower-triangular form and satisfy Lipschitz conditions with time-varying gains. Based on the dynamic output approach and dynamic gain control method, a new distributed output feedback consensus protocol is proposed with two online tuned gains such that the finite-time leader-following consensus is achieved. Different from some exiting observer-based output feedback approaches that the observers embedded in agents have to share full observation information with their neighbors, the proposed protocol only requires the output information of neighboring agents to be transmitted, and thus the network communication burden is reduced. In addition, compared to the traditional backstepping method that commonly used for finite time control of nonlinear system, the proposed controller can avoid the repeated derivation problem in backstepping control and thereby is simple and convenient for use. Finally, a numerical example is given to demonstrate the effectiveness of the proposed results.