Distributed Observer-Based Control for Consensus in Nonlinear Fractional-Order Multi-Agent Systems

The consensus problem among agents has long intrigued researchers in the field of coordination control. This study investigates a nonlinear fractional-order system with 0 < α < 1. A controller based on distributed observers is designed to assist agents in achieving consensus within a multi-agent nonlinear fractional-order system. The primary strategy for addressing the nonlinear term involves feedback linearization. The controller is developed with a stability proof, and the resulting observer-based controller is applied to an example of a nonlinear fractional-order multi-agent system. Additionally, a nonlinear example is solved analytically in this context. The estimation error is thoroughly analyzed, demonstrating notable convergence to zero based on the Lyapunov stability synthesis.