Leader-follower consensus control of linear multi-agent systems with unknown disturbances
Li Ma, Fanglai Zhu · 2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS) · 2021
In this paper, a leader-follower asymptotic consensus control strategy is designed for a class of linear multi-agent systems with unknown external disturbances. In such a design, a reduced-order observer which can produce the asymptotical system state estimation by decoupling the unknown disturbances is presented firstly. Meanwhile, with the help of a state equivalent transformation, an interval observer is set up, and then a novel disturbances reconstruction is obtained, which is decoupled from the control input and can approach the unknown disturbances asymptotically. Subsequently, in terms of the relative estimated states between neighbors and its own disturbance reconstruction information, the consensus control protocol is proposed for each agent. It is displayed that the leader-follower consensus issue can be tackled under the developed control protocol. Finally, a simulation example is given to verify the feasibility of the presented control method.