Title :
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
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;
Journal_Title :
Circuits and Systems I: Regular Papers, IEEE Transactions on
DOI :
10.1109/TCSI.2013.2265978