Distributed observer based consensus tracking of multi-agent systems subject to nonlinearity and disturbance under directed graphs

In this conference article, we investigate the distributed consensus tracking problem for a class of multi-agent systems (MASs) subject to nonlinearity and disturbance. In the situation that no disturbance exists, we propose a class of distributed control protocols depending on relative state information to achieve asymptotical tracking. Then, two classes of distributed non-smooth control protocols employing relative output information are designed to address the tracking problem when all the followers are affected by disturbances. Finally, numerical examples are given to verify the theoretical results.