Distributed state estimator-based consensus tracking of multi-agent systems with exogenous disturbance |
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| Institution: | 1. College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, Hunan, 412007, China;2. Zoomlion Heavy Industry Science And Technology Co.,Ltd., Changsha, Hunan, 410000, China;1. Czech Technical University in Prague, University Centre for Energy Efficient Buildings, Trinecka 1024, Bustehrad 273 43, Czech Republic;2. Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering, Karlovo namesti 13, 121 35, Prague 2, Czech Republic;1. Federal Rural University of the Semi-Arid Region, Rua Francisco Mota, 572, Pres. Costa e Silva, Mossoró, 59625-900, RN, Brazil;2. São Paulo State University, Avenida Brasil, 56, Centro, Ilha Solteira, 15385-000, SP, Brazil;3. Goiás Federal Institute of Education, Science, and Technology, Av. Presidente Juscelino Kubitschek, 775, Residencial Flamboyant, Jataí, 75804-714, GO, Brazil;1. School of Artificial Intelligence, Shanghai University, Shanghai 200444, China;2. Department of Automaton, Shanghai Jiao Tong University, Shanghai 200240, China;3. Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China;4. Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai 200240, China;1. School of Macaronic Engineering and Automation, Shanghai University, Shanghai 200444, China;2. School of Mechanics and Engineering Science, Shanghai University, Shanghai 200072, China |
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| Abstract: | The consensus tacking problem for multi-agent systems with a leader of none control input and unknown control input is studied in this paper. By virtue of the relative state information of neighboring agents, state estimator and disturbance estimator are designed for each follower to estimate the system states and exogenous disturbance, respectively. Meanwhile, a novel control protocol based on two estimators is designed to make tracking error eventually converge to zero. Furthermore, the obtained results are further extended to the leader with unknown control input. A novel state estimator with adaptive time-varying gain is proposed such that consensus tracking condition is independent of the Laplacian matrix with regard to the communication topology. Finally, two examples are presented to verify the feasibility of the proposed control protocol. |
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