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    This study introduces novel distributed stubborn reduced-order observers to address leader-following consensus issues in nonlinear multiagent systems despite transmission outliers. The observers ensure reliable consensus achievement even with imperfect data transmission.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Robotics

    Background:

    • Leader-following consensus is crucial for coordinated multiagent systems.
    • Transmission outliers can disrupt consensus achievement in nonlinear systems.
    • Existing methods may struggle with abnormal and isolated data transmission errors.

    Purpose of the Study:

    • To develop robust distributed observers for leader-following consensus in nonlinear multiagent systems.
    • To mitigate the impact of transmission outliers on consensus error estimation.
    • To ensure reliable consensus under directed network topologies.

    Main Methods:

    • Design of a distributed stubborn reduced-order observer using relative output and observer states.
    • Development of a second observer leveraging relative information and inputs for controllable leader agents.
    • Establishment of sufficient conditions based on the Laplacian matrix for observer convergence.

    Main Results:

    • The proposed observers effectively estimate consensus error in the presence of transmission outliers.
    • Sufficient conditions guarantee the convergence of the observers.
    • The nonlinear multiagent system achieves leader-following consensus with directed topology.

    Conclusions:

    • The developed distributed stubborn reduced-order observers provide a robust solution for leader-following consensus in nonlinear multiagent systems with transmission outliers.
    • The methodology is validated through a multispacecraft system example.
    • This work enhances the reliability of consensus protocols in practical, noisy environments.