Cluster Computing

, Volume 22, Supplement 6, pp 14487–14493 | Cite as

Consensus disturbance rejection with channel uncertainties in directed leader-following network system

  • Haozhe Cao
  • Yanxuan WuEmail author
  • Zhengjie Wang


This paper investigates the consensus disturbance rejection with channel uncertainties problem under directed network systems based on distributed disturbance observer method. The channel uncertainty item is modeled as the unitary transfer function perturbed by norm-bounded parameter. Laplacian matrix is divided into a nonsingular M-matrix to handle the directionality in networked system. Based on the uncertain relative information, a distributed disturbance protocol has been designed to guarantee the states of the agents converge to a consensus trajectory among all the subsystems. The channel uncertainties are added into the traditional disturbance observer-based rejection, and the distributed disturbance protocol is designed based on the relative state information obtained from the neighboring subsystems. According to linear matrix inequalities, sufficient condition for the results is derived. The effectiveness of the proposed protocol is finally verified by performing simulations.


Consensus control Disturbance rejection Channel uncertainty Network Leader-following 



The authors would like to thank the review experts. This research is supported by the National Natural Science Foundation of China (under Grant 11672033).

Compliance with ethical standards

Conflict of Interests

The authors declare that there is no conflict interests regarding the publication of this paper.


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijingChina
  2. 2.Department of Mechatronical EngineeringBeijing Institute of TechnologyBeijingChina

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