Fully Distributed Consensus Control for Nonlinear Multi-agent Network with Extended State Observer
Shaopan Guo, Zhongkui Li · 2018
The consensus problem of a network of nonlinear agents with external disturbances is considered in this paper. Built on the linear extended state observer (LESO), a distributed consensus protocol is proposed and designed by using a node-based adaptive control method. Compared with the previous related papers, our main contribution is that the proposed consensus protocol is fully distributed, which does not need any global information about the communication topology and is independent of the network's scale. A sufficient condition is derived to ensure that the consensus errors of the nonlinear multi-agent systems converge to zero in the presence of disturbances. Lastly, a simulation example is presented to demonstrate the effectiveness of the theoretical results.