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Disturbance observer–based consensus tracking for nonlinear multiagent systems with switching topologies
Author(s) -
Ai Xiaolin,
Yu Jianqiao,
Jia Zhenyue,
Yang Di,
Xu Xuan,
Shen Yuanchuan
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4008
Subject(s) - network topology , multi agent system , control theory (sociology) , nonlinear system , consensus , computer science , disturbance (geology) , observer (physics) , tracking (education) , spanning tree , protocol (science) , scheme (mathematics) , topology (electrical circuits) , control (management) , mathematics , artificial intelligence , computer network , psychology , paleontology , pedagogy , medicine , physics , alternative medicine , mathematical analysis , pathology , quantum mechanics , combinatorics , biology
Summary This paper considers the leader‐follower consensus tracking problem for nonlinear multiagent systems with external disturbances and switching topologies. A distributed disturbance observer is constructed to estimate the disturbances suffered by the followers. Then, a distributed consensus protocol is proposed for the consensus tracking problem with disturbance rejection under a fixed directed topology based on the disturbance observer. Next, this result is extended to the case in which the switching communication topology only frequently but not always contains a directed spanning tree. By selecting the parameters appropriately such that the communication time satisfies various preset conditions, it is theoretically proven that the consensus tracking with disturbance rejection can also be achieved by the multiagent systems. Finally, a simulation example is presented to demonstrate the performance of the proposed control scheme.