Distributed active anti-disturbance output consensus algorithms for higher-order multi-agent systems with mismatched disturbances. (English) Zbl 1348.93020
Summary: Different from most of the existing literature on anti-disturbance control for multi-agent systems with only matched disturbances, in this paper, the output consensus control problem of homogeneous higher-order integrator-chain multi-agent systems with mismatched disturbances is investigated. Such a problem is solved by using a distributed active anti-disturbance cooperative control scheme, which combines Sliding-Mode Control (SMC) and Disturbance Observer Based Control (DOBC) approaches together. First, a disturbance observer is constructed for each agent to estimate its mismatched/matched disturbances. Second, for each agent, by employing its own and neighbors’ mismatched disturbances estimates, dynamic sliding-mode surfaces are designed for leaderless and leader-follower cases, respectively. Third, based on the designed surfaces, composite sliding-mode consensus protocols are proposed for both cases, which guarantee output consensus of the agents with mismatched disturbances. Simulation results on a cooperative attack control example of multi-missile systems illustrate the effectiveness of the proposed consensus algorithms.
MSC:
| 93A14 | Decentralized systems |
| 68T42 | Agent technology and artificial intelligence |
| 93B12 | Variable structure systems |
| 93B07 | Observability |
Keywords:
consensus; multi-agent systems; mismatched disturbances; sliding-mode control; disturbance observer based controlReferences:
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