Observer‐based consensus control for multi‐agent systems with measurement noises and external disturbances
Xiaolong Huang, Yangzhou Chen, Jingyuan Zhan · International Journal of Robust and Nonlinear Control · 2021
Abstract This study presents a distributed observer‐based consensus control for general linear multi‐agent systems under measurement noises and external disturbances. By using the state linear transformation with the matrix constructed from the incidence matrix of a virtual chained directed spanning tree, we transform the observer‐based consensus problem into an asymptotic stability problem of a corresponding augmented linear system. The augmented linear system consists of the reduced‐order system deduced from dynamic equations of the agents and state estimation error system. Based on asymptotic stability of the augmented linear system, we present some sufficient conditions in terms of linear matrix inequalities for the existence of the distributed observer‐based consensus controller. Finally, the effectiveness of the proposed approach is illustrated by a numerical example.