Consensus control of networked nonlinear systems

In this paper, we proposed a consensus control for networked nonlinear system with disturbance and uncertain parameter. The proposed algorithm is combined with adaptive compensation of unknown disturbance and output feedback control to achieve consensus, without knowing the disturbance's amplitude frequency and phase, as long as the number of different frequencies is known. From the theorem presented in the paper, we can see the topology condition for achieving consensus is the same as networked linear system. A second-order integrated example is used to illustrate the algorithm. The design procedure is divided into two step: in step I, we design a consensus control law for networked virtual agents by Lemma 1; in step II, we use output feedback control with complete compensation of unknown disturbance for adaptive tracking the virtual agents.