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Robust Output Feedback Consensus for Networked Heterogeneous Nonlinear Negative-Imaginary Systems

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Document pages: 6 pages

Abstract: This paper provides a control protocol for the robust output feedbackconsensus of networked heterogeneous nonlinear negative-imaginary (NI) systems.Heterogeneous nonlinear output strictly negative-imaginary (OSNI) controllersare applied in positive feedback according to the network topology to achieveoutput feedback consensus. The main contribution of this paper is extending theprevious studies of the robust output feedback consensus problem for networkedheterogeneous linear NI systems to nonlinear NI systems. Output feedbackconsensus is proved by investigating the internal stability of the closed-loopinterconnection of the network of heterogeneous nonlinear NI plants and thenetwork of heterogeneous nonlinear OSNI controllers according to the networktopology. The network of heterogeneous nonlinear NI systems is proved to bealso a nonlinear NI system, and the network of heterogeneous nonlinear OSNIsystems is proved to be also a nonlinear OSNI system. Under suitableconditions, the nonlinear OSNI controllers lead to the convergence of theoutputs of all nonlinear NI plants to a common limit trajectory, regardless ofthe system model of each plant. Hence, the protocol is robust with respect toparameter perturbation in the system models of the heterogeneous nonlinear NIplants in the network.

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