Distributed Asymptotic Consensus in Directed Networks of Nonaffine Systems With Nonvanishing Disturbance

In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’states.In view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop variables.Compared with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering behavior.Simulation results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.