Output feedback consensus tracking for second-order nonlinear multi-agent systems with directed communication graphs

In this paper, consensus tracking for a class of second-order nonlinear multi-agent systems with a dynamic leader under general directed communication graphs is considered. Only relative output measurements are assumed to be available for each agent. Based on a distributed observer design, global consensus tracking controller using only relative output information is proposed. Sufficient conditions on the controller parameters are derived to ensure consensus tracking. A simulation example is provided to illustrate the effectiveness of the proposed controller.

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