Consensus disturbance rejection for Lipschitz nonlinear multi-agent systems with input delay: A DOBC approach

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• 作者：Chunyan Wang^a ; ^{chunyan.wang-2@manchester.ac.uk} ; Zongyu Zuo^b ; ^{zzybobby@buaa.edu.cn} ; Junyong Sun^c ; ^{sjymath@pku.edu.cn} ; Jun Yang^d ; ^{j.yang84@seu.edu.cn} ; Zhengtao Ding^a ; ^{zhengtao.ding@manchester.ac.uk}
• 刊名：Journal of the Franklin Institute
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：354
• 期：1
• 页码：298-315
• 全文大小：788 K
• 卷排序：354

文摘

In this paper, a new predictor-based consensus disturbance rejection method is proposed for high-order multi-agent systems with Lipschitz nonlinearity and input delay. First, a distributed disturbance observer for consensus control is developed for each agent to estimate the disturbance under the delay constraint. Based on the conventional predictor feedback approach, a non-ideal predictor based control scheme is constructed for each agent by utilizing the estimate of the disturbance and the prediction of the relative state information. Then, rigorous analysis is carried out to ensure that the extra terms associated with disturbances and nonlinear functions are properly considered. Sufficient conditions for the consensus of the multi-agent systems with disturbance rejection are derived based on the analysis in the framework of Lyapunov–Krasovskii functionals. A simulation example is included to demonstrate the performance of the proposed control scheme.