Output Feedback Consensus of Triangular Nonlinear Systems with a Communication Delay

In this paper, the output feedback consensus of lower triangular nonlinear systems under a directed network with a communication delay is studied. The proposed controller incorporates a high-gain approach into the existing low-gain controller to compensate for the triangular nonlinearity and time delay. Combining low- and high-gain approaches demonstrated that if a communication delay is sufficiently small, the proposed output feedback controller can achieve a consensus in the presence of both a triangular nonlinearity and a communication delay. Finally, a simulation example is given to validate the proposed controller.