0600118 20250207134350.520241101235959.9 85208441589 001351750900001 10.3390/math12213424 19 s. E cav_un_epca*04536012227-739012MMAAIMAS 2024 (2024)MDPI Nonlinear multi-agent systems Underactuated systems Robust control cav_un_auth*0216347 Rehák Branislav UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0414979 Lynnyk Anna UTIA-B Teorie řízení Department of Control Theory TŘ TR CZ Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0215855 Lynnyk Volodymyr UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory K Ústav teorie informace a automatizace AV ČR, v. v. i. https://library.utia.cas.cz/separaty/2024/TR/rehak-0600118.pdf https://www.mdpi.com/2227-7390/12/21/3424 The consensus problem of a multi-agent system with nonlinear second-order underactuated agents is addressed. The essence of the approach can be outlined as follows: the output is redesigned first so that the agents attain the minimum-phase property. The second step is to apply the exact feedback linearization to the agents. This transformation divides their dynamics into a linear observable part and a non-observable part. It is shown that consensus of the linearizable parts of the agents implies consensus of the entire multi-agent system. To achieve the consensus of the original system, the inverse transformation of the exact feedback linearization is applied. However, its application causes changes in the dynamics of the multi-agent system. a way to mitigate this effect is proposed. Two examples are presented to illustrate the efficiency of the proposed synchronization algorithm. These examples demonstrate that the synchronization error decreases faster when the proposed method is applied. This holds not only for the states constituting the linearizable dynamics but also for the hidden internal dynamics. WOS BC 20000 20200 20205 2025 3 RVO:67985556 https://hdl.handle.net/11104/0357483 S 3424 A MATHEMATICS 2 0.6 2.5 0.04875 0.373 36475 84 0.498 39.71 2.78 35404 Q2 2.000 4016 Q1 94 2.08 Q1 94 2024 85208441589 SCOPUS PUBMED 001351750900001 WOS cav_un_epca*0453601 Mathematics 2227-7390 2227-7390 Roč. 12 č. 21 - Spec. Iss. MMAAIMAS 2024 2024 MDPI ONLINE