Output consensus of homogeneous multi-agent nonlinear systems

The purpose of this paper is to address a distributed output consensus design for a class of homogeneous and minimum phase leader-following multi-agent nonlinear systems. When the information digraph contains a directed spanning tree with the leader node as the root, it is shown that the problem can be approached by incorporating a single host internal model. An output feedback based Lyapunov protocol is developed. An example is also given to show the efficiency of the design.

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