Distributed Adaptive Consensus Disturbance Rejection for Multi-Agent Systems on Directed Graphs
Junyong Sun, Zhiyong Geng, Yuezu Lv, Zhongkui Li, Zhengtao Ding · IEEE Transactions on Control of Network Systems · 2018
This paper considers the distributed consensus disturbance rejection problem for general linear multiagent systems with deterministic disturbances under directed communication graphs. Based on the relative state information of the neighboring agents, the consensus protocols, which consist of two observers, including a state observer and a separate disturbance observer, are designed to guarantee that the consensus error goes to zero with complete disturbance rejection. Furthermore, the state observer is designed in a fully distributed fashion with adaptive coupling gain, which has the advantage that the consensus controller design is independent of the Laplacian matrix associated with the communication network. The distributed observer-based consensus disturbance rejection protocols are further extended to containment control. Finally, an example is provided to demonstrate the effectiveness of the proposed strategies.