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Distributed consensus tracking of networked multi-agent systems subject to time varying nonlinear couplings by output feedback control

Consensus is a fundamental and important problem for cooperative control. This paper mainly studies on the distributed consensus of networked multi-agent systems with time varying nonlinear couplings. A time varying and nonlinear couplings theorem was considered. Then, a distributed consensus protocol is proposed by desired weighting and designed control gain, via output feedback control under directed graphs and switching topologies. Sufficient conditions for achieving the desired consensus asymptotically are proved. Finally, theoretical results are validated via simulations.