Distributed output-feedback consensus control of multi-agent systems with dynamically changing directed interaction topologies

Maopeng Ran; Yanze Hou; Xuan Gong; Qing Wang; Chaoyang Dong

doi:10.1016/j.isatra.2018.10.005

Distributed output-feedback consensus control of multi-agent systems with dynamically changing directed interaction topologies

ISA Trans. 2019 Feb:85:71-75. doi: 10.1016/j.isatra.2018.10.005. Epub 2018 Oct 16.

Authors

Maopeng Ran¹, Yanze Hou², Xuan Gong³, Qing Wang³, Chaoyang Dong⁴

Affiliations

¹ School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China. Electronic address: ranmp@buaa.edu.cn.
² Institute of Manned Space System Engineering, China Academy of Space Technology, Beijing 100094, China.
³ School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China.
⁴ School of Aeronautic Science and Engineering, Beihang University, Beijing, 100191, China.

PMID: 30482551
DOI: 10.1016/j.isatra.2018.10.005

Abstract

This paper considers the distributed output-feedback consensus control problem for a multi-agent system with higher order linear dynamics and subject to external disturbance, under dynamically changing directed topologies and weighting factors. An extended state observer (ESO) is first designed to estimate not only the unmeasurable agent states but also the external disturbance. Based on the output of the ESO, a novel distributed control protocol is proposed. We show that, with the application of the proposed control protocol, the consensus can be achieved asymptotically by the group of agents if the union of the directed interaction graphs contains a spanning tree frequently enough. A numerical example is given to verify the effectiveness of the theoretical results.

Keywords: Consensus control; Extended state observer; Multi-agent systems.