Composite Output Consensus Control for General Linear Multiagent Systems With Heterogeneous Mismatched Disturbances

This paper develops a composite output consensus control protocol for a general linear multiagent system subject to mismatched disturbances, which incorporates active disturbance-rejection control and fully distributed adaptive consensus control. To estimate and then cancel out the effect of mismatched disturbances on the outputs of the agents, heterogeneous generalized equivalent-input-disturbance estimators are constructed in the inner loop. Then a fully distributed adaptive feedback controller is designed to achieve consensus control based on the states of the designed heterogeneous observers for the agents. The restriction on the disturbances is lowered, the requirement for the global information of the communication topology is removed, and the exchanging information among agents is only relative estimated states. Further, the output consensus performance is analyzed for the closed-loop multiagent system. Our results complement and improve the results of the existing literature. Lastly, the effectiveness and superiority of the developed method are demonstrated through a numerical simulation and a comparison with the distributed extended-state-observer-based method.

I. Introduction

Multiagent systems have gained lots of interest from control communities for their wide applications, including unmanned aerial vehicles (UAVs) [1], swarming [2], multi-satellite missions [3], and traffic management [4]. Distributed cooperative control of multiagent systems is a better option due to its robustness and efficiency over centralized control [5], where agents communicate with each other to exchange information and coordinate their actions [6].