Distributed Consensus Control for Multiple Nonlinear Strict-Feedback Systems under Directed Graphs and its Application for Multiple Quadrotor Systems

This paper addresses the cooperative consensus problem for nonlinear strict-feedback systems under directed graph topologies. For the case of multi-agent systems with unmatched nonlinear, we adapt a dynamic surface control which is a recursive and Lyapunov-based control design procedure yet avoid the problem of "explosion of terms". A new error surface based on graph theory is introduced to reduce the number of first-order filters which can simplify the recursive procedure. As an application of our algorithm, we study the problem of leaderless coordination of multiple quad rotors. The effectiveness of the theoretical result is demonstrated via simulations.