Open AccessDistributed composite output consensus protocols of higher‐order multi‐agent systems subject to mismatched disturbances
Author(s) -
Li Guipu,
Wang Xiangyu,
Li Shihua
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0814
Subject(s) - control theory (sociology) , multi agent system , consensus , integral sliding mode , observer (physics) , computer science , feed forward , order (exchange) , control (management) , sliding mode control , control engineering , engineering , nonlinear system , artificial intelligence , economics , finance , physics , quantum mechanics
In the existing literatures, most of the anti‐disturbance consensus control methods focus on multi‐agent systems with slow time‐varying matched disturbances. In practise, the multi‐agent systems are usually subject to mismatched disturbances and the disturbances are usually fast time‐varying. This study investigates the output consensus problem of higher‐order multi‐agent systems with mismatched disturbances, which are allowed to be fast time‐varying. Firstly, to estimate the matched disturbances, mismatched disturbances and their higher‐order derivatives, a generalised proportional–integral observer is constructed for each agent. Secondly, by distributedly employing the estimates of the mismatched disturbances and their higher‐order derivatives, for both leaderless and leader–follower cases, two kinds of non‐linear sliding‐mode surfaces are developed, respectively. Thirdly, with the designed surfaces and the disturbances estimation information, feedforward–feedback composite consensus protocols are designed for both cases, which guarantee asymptotical consensus of the agents' outputs. Simulation results show the effectiveness of the proposed consensus algorithms.