Asymptotical Consensus of MIMO Linear Multiagent Systems With a Nonautonomous Leader and Directed Switching Topology: A Continuous Approach

In this article, we investigate the asymptotical consensus tracking problems for multiple-input-multiple-output linear multiagent systems with directed switching topology and a nonautonomous leader subject to nonzero unknown inputs. First, we design a full-order unknown input observer (UIO) based on relative outputs to estimate the relative full states. Based on this UIO, we design a continuous consensus controller by introducing a decay function, which remains positive into the term that is used to eliminate the effects of the leader's nonzero inputs. And by using the multiple Lyapunov functions method, we prove that asymptotical consensus can be achieved if the average dwell time is greater than a positive threshold. Second, we design a continuous consensus controller based on a reduced-order UIO that can significantly simplify calculations. Finally, we give two examples of multiple unmanned aerial vehicles to verify the theoretical results. Compared with existing works, the continuous controllers here can not only achieve zero-error consensus tracking but also are chattering-free.

Automated summary

This article investigates the asymptotical consensus tracking problems for multiple-input-multiple-output linear multiagent systems with directed switching topology and a nonautonomous leader subject to nonzero unknown inputs. It proposes the design of a full-order and a reduced-order unknown input observer (UIO) to estimate the relative full states. Based on this UIO, a continuous consensus controller is designed by introducing a decay function. The effectiveness of the theoretical results is verified through the analysis of multiple Lyapunov functions and examples of unmanned aerial vehicles.