An Output Feedback Cascade Control Approach to Distributed Consensus of Nonlinear Multiagent Systems With Output Delays

Kuo Li, Choon Ki Ahn, Changchun Hua, Dong Kyu Lee

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper explores the distributed output feedback leader-following full state cascade consensus problem for nonlinear multiagent systems subject to output delays based on a fixed directed topology. Output delays caused by information transmission are considered herein. In this situation, a new distributed consensus strategy is developed by utilizing the output feedback control approach. By introducing delay state equations for all agents, a novel cascade compensator with delays is built for each follower to compensate the full state tracking error among the follower and leader, which is only dependent on the correlative outputs of its neighbor agents. Then, we propose a static gain-based distributed output feedback controller for the follower by means of the compensator. By constructing the Lyapunov-Krasovskii functional, it is demonstrated that the designed controllers can guarantee that all agents will acquire leader-following consensus under the directed topology. Moreover, this result can be easily expanded to solve the consensus problem considering communication delays. Finally, the validity of our given theoretical result is determined by executing a numerical simulation.

Original languageEnglish
Pages (from-to)2631-2640
Number of pages10
JournalIEEE Transactions on Network Science and Engineering
Issue number4
Publication statusPublished - 2022

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grants 618255304 and U20A20187, in part by the Science Fund for Creative Research Groups of Hebei Province under Grant F2020203013, and in part by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government, Ministry of Science and ICT under Grant NRF-2020R1A2C1005449.

Publisher Copyright:
© 2013 IEEE.


  • Nonlinear multiagent systems
  • cascade compensator
  • distributed consensus control
  • output delays
  • output feedback control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Computer Networks and Communications


Dive into the research topics of 'An Output Feedback Cascade Control Approach to Distributed Consensus of Nonlinear Multiagent Systems With Output Delays'. Together they form a unique fingerprint.

Cite this