Observer-Based Consensus of Nonlinear Multiagent Systems With Relative State Estimate Constraints

Within the framework of multiagent systems, relative information can be directly acquired by vehicle-mounted sensors and the relative information constraints inevitably occur due to limited sensing capabilities. This paper investigates observer-based consensus of nonlinear multiagent systems subject to relative state estimate constraints. Each agent's state is constructed via a state observer, and the relative state estimate is assumed to be confined into a hypercube. In virtue of the edge Laplacian, the consensus problem of nonlinear multiagent systems under this constraint is converted into the stabilization problem of edge dynamics operating on the constrained set. Observer-based intermittent protocol and adaptive protocol are, respectively, designed for achieving consensus. A convergence analysis is provided with the help of state saturation theory, switched system theory and adaptive theory. Finally, the results on consensus with relate state estimate constraints are applied into the consensus problem while preserving the connectedness, and are validated by a simulation example.