Leader-following asynchronous consensus for multiagent systems with unknown control and output directions

Abstract

This paper focuses on the distributed consensus problem for multiagent systems subject to high order integrator dynamics and unknown control and output directions based on switching topologies. Unlike existing works, both control and output directions are unknown in the systems and delay is considered between the switching of candidate K-filters and that of topologies. In these conditions, we produced a fresh distributed consensus algorithm by the correlative output information. By designing asynchronous switched K-filters and classical K-filters, the state variables of the leader and all followers are reconstructed. Based on the backstepping method and the Nussbaum-type functions, we put forward the distributed controller with K-filters for the follower. Then, we scrupulously prove that all agents can acquire consensus driven by the controller if the switching signal satisfies an average dwell time condition. Finally, the correctness of the algorithm is tested based on a numerical simulation. (C) 2021 Published by Elsevier Ltd.