Optimal output consensus of second-order uncertain nonlinear systems on weight-unbalanced directed networks

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)4878-4898
Number of pages21
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Issue number8
Online published10 Feb 2022
Publication statusPublished - 25 May 2022


This article investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multiagent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly convex with globally Lipschitz gradients, a novel distributed dynamic state feedback controller is developed such that the outputs of all the agents reach the optimal solution to minimize the global cost function which is the sum of all the local cost functions. The controller design is based on a two-layer strategy, where a distributed optimal coordinator and a reference-tracking controller are proposed to address the challenges arising from unbalanced directed networks and uncertain nonlinear functions respectively. A key feature of the proposed controller is that the nonlinear functions containing the uncertainties and disturbances are not required to be globally Lipschitz. Furthermore, by exploiting adaptive control technique, no prior knowledge of the uncertainties or disturbances is required either. Two simulation examples are finally provided to illustrate the effectiveness of the proposed control scheme.

Research Area(s)

  • Adaptive control, Directed networks, Distributed optimization, Nonlinear systems, Weight-unbalanced