Output consensus control of multi-agent systems with nonlinear non-minimum phase dynamics

ABSTRACT

This paper considers the output consensus problem in non-minimum phase nonlinear multi-agent systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, a consensus protocol consisting of two terms is proposed. The first term is a linear function of the states of each agent employed in order to overcome the non-minimum phase dynamics, and the second term is a function of the output of neighbouring agents which provides coupling among agents and guarantees output consensus in the network. The asymptotic stability of output consensus errors and the boundedness of the states of agents are also studied. A numerical example is presented to show the effectiveness of the proposed approach.

KEYWORDS:

• Consensus
• multi-agent system
• non-minimum phase dynamics
• zero dynamics

Disclosure statement

No potential conflict of interest was reported by the authors.