Cooperative output feedback design for networks of strict-feedback systems having high relative degrees

Abstract

This paper studies semi-global robust output consensus of multi-agent uncertain nonlinear systems of a strict-feedback normal form. The concerned agents may have high relative degrees with actuating disturbances, thus strictly extended from the previous study [17]. We develop a Lyapunov function based approach to establishing a cooperative output feedback protocol. Specifically, each local protocol consists of a distributed observer and a networked internal model. For an illustration, the proposed result is applied for a network of microelectromechanical-system (MEMS) oscillators.