Practical output consensus of nonlinear heterogeneous multi-agent systems with limited data rate

This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system unknown nonlinearities and external disturbance, only first state variable being measurable. Extended observers (ESOs) are used to estimate unmeasurable states dynamics. An ESO-based distributed output feedback protocol dynamic encoding decoding then presented. It shown that, connected undirected network, proposed guarantees practical consensus, in which steady-state error can be made arbitrarily small. The also shapes transient performance, as it capable of recovering performance linear counterpart fully measurable states. Furthermore, we prove that uncertain systems, achieved merely one bit information exchange between each pair adjacent agents at time step. Finally, simulations on third-order pendulum given, verify theoretical results.