Cooperative Control for a Class of Upper-triangular Nonlinear Multi-agent Systems with Unknown Growth Rates
This paper concerns the cooperative control for a class of upper-triangular nonlinear multi-agent sys-tems with unknown growth rates under the directed leader-followers type network topology.Firstly,the original system was transformed into an equivalent one with a time gain by introducing a coordinate transformation.Sec-ondly,a distributed time-varying state feedback controller for the nominal system was designed.It is proved that the followers can achieve bounded output tracking of the leader,and all signals of the closed-loop system are bounded by the designed controller.Finally,the effectiveness of the control scheme was verified through a sim-ulation example.
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