Abstract
Abstract This paper deals with the inverse optimal leader-following consensus problem of a class of high-order nonlinear multi-agent systems in strict-feedback form under directed communication topology. By employing the backstepping methodology and introducing an integral type Lyapunov function, a nonlinear distributed control law is constructed using the relative information between neighboring agents. The proposed control law solves the inverse optimal leader-following consensus problem under directed communication graph that contains a spanning tree with the root node being the leader agent. A practical example of ship slew rate control system is given to verify the effectiveness of the theoretical results.
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