Distributed Tracking Control For Multi-agent Systems With Exogenous Disturbances

In recent years,with the advancement of social science and technology,the research of multi-agent system theory has caused widespread concern in the scientific community.This theory has also been used in many fields in real life,such as engineering,medical treatment,military,and so on.Among them,in the research of collaborative control theory,the consensus problem has become one of the most basic and critical issues.Although there has been a lot of research literature on the consensus of multi-agent systems,there are few researches on the consensus of multi-agent systems under external disturbances.Therefore,the main research contents of are summarized as follows:For a linear multi-agent system that includes a leader,when it is disturbed by an external system,the disturbance system model is first established.Second,we design the disturbance observer and distributed adaptive control protocol to solve the influence of external disturbance.At the same time,by using Lyapunov function method,linear matrix inequality(LMI)and related knowledge of graph theory,it is proved that the designed control protocol can make each follower gradually converge to the state of the leader under the communication topology.Finally,the validity of the theory is illustrated by simulation.Furthermore,for a non-linear multi-agent system containing a leader,when it is disturbed by an external system,related research has also been done.Compared with previous system models,the system does not require the dynamics of individual agents to satisfy the conditions of the global Lipschitz type.By analogy,the disturbance system model and disturbance observer are also established.In addition,according to the observed values,a connected distributed adaptive control protocol based on local consensus error feedback is designed.And using Lyapunov function method and algebraic Riccati equation and related knowledge of graph theory,it is proved that under certain conditions,the designed control protocol can gradually converge to the state of leader.Finally,we provide simulation to illustrate the validity of the theory.