Further Results on Consensus of Second-Order Multi-Agent Systems With Exogenous Disturbance
Further Results on Consensus of Second-Order Multi-Agent Systems With Exogenous Disturbance
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DOI：
10.1109/tcsi.2013.2265978
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发表时间：
2013-06
期刊：
影响因子：
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通讯作者：
Xuxi Zhang;Xianping Liu
中科院分区：
文献类型：
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作者：
Xuxi Zhang;Xianping Liu
研究了具有外部干扰的二阶多智能体系统的一致性问题。首先，利用系统的输入-状态稳定性，证明了估计误差系统的全局指数稳定性将导致具有外部干扰的二阶多智能体系统的渐近一致性。其次，利用动态增益技术，提出了一种干扰观测器来估计非线性外系统产生的干扰。基于该扰动观测器，给出了二阶多智能体系统的一致性协议。最后，通过两个算例验证了所提方法的有效性.
In this paper, the consensus problem of second-order multi-agent systems with exogenous disturbances is investigated. Firstly, by using the input-to-state stability of the systems, we show that the global exponential stability of the estimate error system will lead to the asymptotical consensus of the second-order multi-agent systems with exogenous disturbances. Secondly, by utilizing the dynamic gain technique, a disturbance observer is proposed to estimate the disturbance generated by nonlinear exosystem. Based on this disturbance observer, a consensus protocol is presented for the second-order multi-agent systems. Finally, two examples are provided to show the effectiveness of the proposed results.