Consensus of multiagent systems based on disturbance observer-基于干扰观测器的多主体系统的共识.pdfVIP

J Control Theory Appl 2010 8 (2) 145–150 DOI 10.1007/s11768-010-0005-z Consensus of multiagent systems based on disturbance observer Hongyong YANG 1, Fucai WANG 2 , Zhenxing ZHANG 3 , Guangdeng ZONG 4 (1.School of Information Science and Engineering, Ludong University, Yantai Shandong 264025, China; 2.School of Electronic and Electrical Engineering, Ludong University, Yantai Shandong 264025, China; 3.School of Automation, Southeast University, Nanjing Jiangsu 210096, China; 4.Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China) Abstract: The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents’ states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO’s are illuminated. Keywords: Multiagent systems; Disturbance observer; Pinning control; Consensus 1 Introduction