Abstract
In this paper, the consensus problem is investigated for a class of nonlinear multi-agent systems in lower triangular form through dynamic output feedback control. Each agent can only access to the uncertain relative output information from other agents under directed communication. The presence of unknown measurement sensitivities causes the relative output can not be used to construct the observer for each agent directly. For the sake of overcoming this difficulty, a dual-domination gain method is applied to dominate the nonlinear terms and the unknown measurement sensitivities. Then, a new dynamic output feedback consensus prtocol is presented to drive the multi-agent systems to consensus. The upper bound of the unknown measurements sensitivities is also given. At last, we provide two numerical simulation examples to verify the effectiveness of our proposed methods.
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