Composite robust disturbance observer based control for multi-agent systems with nonlinear coupling
Hongyong Yang, Han Chao, Hailin Zou · Chinese Control Conference · 2012
The consensus of the multi-agent systems with nonlinear coupling function are studied. Suppose the nonlinear coupling multi-agent systems are influenced by external disturbances with the modeling uncertainties. A novel composite of disturbance observer based control (DOBC) and H ∞ control scheme is presented so that the disturbance with the uncertain can be compensated and restrained. The consensus of the multi-agent systems can be reached by using DOBC and H ∞ control law. Simulations demonstrate the advantages of the proposed DOBC and H ∞ control scheme.