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The optimal disturbance rejection control problem is considered for consensustracking systems affected by external persistent disturbances and noise.Optimal estimated values of system states are obtained by recursive filteringfor the multiple autonomous underwater vehicles modeled to multi-agent systemswith Kalman filter. Then the feedforward-feedback optimal control law isdeduced by solving the Riccati equations and matrix equations. The existenceand uniqueness condition of feedforward-feedback optimal control law isproposed and the optimal control law algorithm is carried out. Lastly,simulations show the result is effectiveness with respect to externalpersistent disturbances and noise.

An optimal consensus tracking control algorithm for autonomous underwater vehicles with disturbances