Further Results on Consensus of Second-Order Multi-Agent Systems With Exogenous Disturbance

Author

Xuxi Zhang ; Xianping Liu

Author_Institution

Coll. of Sci., Harbin Eng. Univ., Harbin, China

Volume

60

Issue

12

fYear

2013

fDate

Dec. 2013

Firstpage

3215

Lastpage

3226

Abstract

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.

Keywords

asymptotic stability; multi-robot systems; observers; consensus problem; consensus protocol; disturbance observer; dynamic gain technique; exogenous disturbance; global exponential stability; input-to-state stability; nonlinear exosystem; second-order multiagent systems; Disturbance; disturbance observer; dynamic gain; input-to-state stability (ISS); multi-agent systems; nonlinear exosystem;

fLanguage

English

Journal_Title

Circuits and Systems I: Regular Papers, IEEE Transactions on

Publisher

ieee

ISSN

1549-8328

Type

jour

DOI

10.1109/TCSI.2013.2265978

Filename

6542025