Consensus disturbance rejection for Lipschitz nonlinear multi-agent systems with input delay: A DOBC approach |
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| Authors: | Chunyan Wang Zongyu Zuo Junyong Sun Jun Yang Zhengtao Ding |
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| Institution: | 1. School of Electrical and Electronic Engineering, University of Manchester, Sackville Street Building, Manchester M13 9PL, UK;2. The Seventh Research Division, and Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;3. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, PR China;4. The School of Automation, Southeast University, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing 210096, PR China |
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| Abstract: | In this paper, a new predictor-based consensus disturbance rejection method is proposed for high-order multi-agent systems with Lipschitz nonlinearity and input delay. First, a distributed disturbance observer for consensus control is developed for each agent to estimate the disturbance under the delay constraint. Based on the conventional predictor feedback approach, a non-ideal predictor based control scheme is constructed for each agent by utilizing the estimate of the disturbance and the prediction of the relative state information. Then, rigorous analysis is carried out to ensure that the extra terms associated with disturbances and nonlinear functions are properly considered. Sufficient conditions for the consensus of the multi-agent systems with disturbance rejection are derived based on the analysis in the framework of Lyapunov–Krasovskii functionals. A simulation example is included to demonstrate the performance of the proposed control scheme. |
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| Keywords: | Corresponding author |
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