有向图中基于扰动观测器的线性多智能体系统一致性

Disturbance Observer Based Consensus of Linear Multi-agent Systems Under a Directed Graph

在有向图中,针对多智能体系统中智能体动力学存在扰动的情形,研究了系统的一致性问题.每个智能体的动力学模型为存在未知外部扰动的一般线性系统.在有向图是强连通的条件下,通过设计一种基于扰动观测器的分布式算法,实现了存在未知扰动的线性多智能体系统的一致性.最后通过仿真验证所提算法的有效性.

In this paper, we study the consensus problem of multi-agent systems in the existence of unknown disturbances under a general directed graph. The dynamics of each agent is a general linear system with matched disturbances. Given that the directed graph is strongly connected, we design a distributed disturbance observer to solve the consensus problem for general linear multi-agent systems with unknown external disturbances. At the end, simulation results are presented to demonstrate the effectiveness of the proposed algorithm.