Disturbance rejection for leader-follower tracking of linear multi-agent systems under a directed graph
Dongyue Yang, Jie Mei · 2017
In this paper, the leader-follower tracking problem of linear multi-agent systems with distinct disturbances is studied. Unlike the existing leader-follower tracking algorithms, where all agents share common control gains, we allow the control gains to be heterogenous. A lower bound of heterogenous control gains is given based on Lyapunov method for each agent. A disturbance rejection tracking law is proposed under a directed graph, which consists of a disturbance observer. The disturbance observers are designed for each agent only using relative state information.