论文标题
非线性多代理系统的分布式共识，具有不匹配的不确定性和未知的高频增益（扩展版）
Distributed Consensus of Nonlinear Multi-Agent Systems With Mismatched Uncertainties and Unknown High-Frequency Gains (Extended Version)
论文作者
论文摘要
本简介解决了在一般的定向通信拓扑下的非线性多机构系统的分布式共识问题。每个代理都受高阶动力学的控制，具有不匹配的不确定性，多个完全未知的高频增长和外部干扰。本摘要的主要贡献是提出一种新的分布式共识算法，使每个代理的控制输入能够从其相邻代理那里（即只有其输出信息）中获得最小信息。为此，明确构建了一个动态系统，以生成参考输出。严格研究了所提出的算法的理论和模拟验证，以确保可以达到渐近共识，并且所有闭环信号都保持界限。
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely unknown high-frequency gains, and external disturbances. The main contribution of this brief is to present a new distributed consensus algorithm, enabling the control input of each agent to require minimal information from its neighboring agents, that is, only their output information. To this end, a dynamic system is explicitly constructed for each agent to generate a reference output. Theoretical and simulation verifications of the proposed algorithm are rigorously studied to ensure that asymptotic consensus can be achieved and that all closed-loop signals remain bounded.
