Consensus Tracking of Linear Multi-Agent Systems With Exogenous Disturbances
Tongshu Wang, Xuxi Zhang · 2019 IEEE 8th Data Driven Control and Learning Systems Conference (DDCLS) · 2019
This paper investigates the problem of consensus tracking for linear multi-agent systems with exogenous disturbances, which the disturbances are generated by linear external exosystems. To solve consensus tracking problem, a distributed adaptive controller for each follower has been considered. For the exogenous disturbances caused by the external systems, a disturbance observer is designed to deal with exogenous disturbances. Supposing that the communication graph among followers is undirected. Then, by applying the Lyapunov function method, the consensus tracking problem with exogenous disturbances was proved. Finally, a simulation is given to illustrate the effectiveness of our results.