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Volume 10 Issue 2
Feb.  2023

IEEE/CAA Journal of Automatica Sinica

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Article Contents
P. Yu, K.-Z. Liu, X. D. Liu, X. L. Li, M. Wu, and J. She, “Robust consensus tracking control of uncertain multi-agent systems with local disturbance rejection,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 427–438, Feb. 2023. doi: 10.1109/JAS.2023.123231
Citation: P. Yu, K.-Z. Liu, X. D. Liu, X. L. Li, M. Wu, and J. She, “Robust consensus tracking control of uncertain multi-agent systems with local disturbance rejection,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 427–438, Feb. 2023. doi: 10.1109/JAS.2023.123231

Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

doi: 10.1109/JAS.2023.123231
Funds:  This work was supported by the National Natural Science Foundation of China (62003010, 61873006, 61673053), the Beijing Postdoctoral Research Foundation (Q6041001202001), the Postdoctoral Research Foundation of Chaoyang District (Q1041001202101), and the National Key Research and Development Project (2018YFC1602704, 2018YFB1702704)
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  • In this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of-freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic disturbance rejection is derived. Moreover, even when the disturbance model is not exactly known, the developed method also provides good disturbance-rejection performance. Then, a robust stabilization condition with less conservativeness is derived for the whole multi-agent system. Further, a design algorithm is given. Finally, comparisons with the conventional one-degree-of-freedom-based distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.


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    • By only using the output information of the agents and its neighbors, a new consensus tracking protocol with 2-DOF of active disturbance-rejection control is devised
    • The condition for local disturbance rejection is derived, which clarifies the superiority over global disturbance rejection. That is, each agent needs only to deal with the disturbances subject to itself, without worrying about the ones interfering with the neighbors
    • Regardless of the disturbance input channels, asymptotic performance is theoretically guaranteed when an internal model of disturbances is incorporated. Further, the developed method also provides a good performance for unknown disturbances
    • A robust synchronization condition with less conservativeness is developed for a general multi-agent system with heterogeneous dynamic uncertainties over a directed graph, which is easy to check


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