Robust Consensus of Multi-agent Systems Under Switching Networks and Exosystem Measurement Constraint

In this paper, the robust leader-following consensus of heterogeneous linear multi-agent systems with uncertainties under switching networks is considered. In the meantime, we assumed here that all of followers cannot reconstruct the leader dynamics independently since the leader’s states cannot be fully accessed by the follower who has interaction with the leader. With the help of internal model principle by given a mild collective detectability and a joined connectivity of topology assumptions, we proposed a robust distributed dynamic output feedback control law under output regulation framework to solve robust consensus problem of the multi-agent systems utilizing the well-designed compensator, which allows all followers have nonidentical state dimensions’ dynamic. A numerical example is conducted to verify our design.