Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

doi:10.1109/JAS.2023.123231

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	Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection
	Pan Yu; Kang-Zhi Liu; Xudong Liu; Xiaoli Li; Min Wu; Jinhua She
刊名	IEEE/CAA Journal of Automatica Sinica
	2023
卷号	10 期号:2 页码:427-438
关键词	Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control
ISSN号	2329-9266
DOI	10.1109/JAS.2023.123231
英文摘要	In this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of-freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic disturbance rejection is derived. Moreover, even when the disturbance model is not exactly known, the developed method also provides good disturbance-rejection performance. Then, a robust stabilization condition with less conservativeness is derived for the whole multi-agent system. Further, a design algorithm is given. Finally, comparisons with the conventional one-degree-of-freedom-based distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50856]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Pan Yu,Kang-Zhi Liu,Xudong Liu,et al. Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(2):427-438.
APA	Pan Yu,Kang-Zhi Liu,Xudong Liu,Xiaoli Li,Min Wu,&Jinhua She.(2023).Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection.IEEE/CAA Journal of Automatica Sinica,10(2),427-438.
MLA	Pan Yu,et al."Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection".IEEE/CAA Journal of Automatica Sinica 10.2(2023):427-438.