4.5 Article

Robust Consensus of Multi-Agent Systems with Uncertain Exogenous Disturbances

Journal

COMMUNICATIONS IN THEORETICAL PHYSICS
Volume 56, Issue 6, Pages 1161-1166

Publisher

IOP PUBLISHING LTD
DOI: 10.1088/0253-6102/56/6/33

Keywords

robust controller; multi-agent systems; consensus; uncertain disturbance

Funding

  1. National Excellence Youth Science Foundation of China [60925012]
  2. National Basic Research Science Program of China [2012CB720000]
  3. 973 Program
  4. National Natural Science Foundation of China [60875039, 60904022, 60805039, 60774013]
  5. Science Foundation of China [2011M500205]
  6. Natural Science Foundation of Shandong Province of China [ZR2011FM017]

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The objective of this paper is to investigate the consensus of the multi-agent systems with nonlinear coupling function and external disturbances. The disturbance includes two parts, one part is supposed to be generated by an exogenous system, which is not required to be neutrally stable as in the output regulation theory, the other part is the modeling uncertainty in the exogenous disturbance system. A novel composite disturbance observer based control (DOBC) and H-infinity control scheme is presented so that the disturbance with the exogenous system can be estimated and compensated and the consensus of the multi-agent systems with fixed and switching graph can be reached by using H-infinity, control law. Simulations demonstrate the advantages of the proposed DOBC and H-infinity control scheme.

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