Skip to main content
SpringerLink
Log in

Consensus of multiagent systems based on disturbance observer

  • Published:
Journal of Control Theory and Applications Aims and scope Submit manuscript

Abstract

The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents’ states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO’s are illuminated.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. A. Jadbabaie, J. Lin, A. S. Morse. Coordination of groups of mobile agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6):988–1001.

    Article  MathSciNet  Google Scholar 

  2. Z. Lin, M. Broucker, B. Francis. Local control strategies for groups of mobile autonomous agents[J]. IEEE Transactions Automatic Control, 2004, 49(4):622–629.

    Article  Google Scholar 

  3. J. A. Fax, R. M. Murray. Information flow and cooperative control of vehicle formations[J]. IEEE Transactions on Automatic Control, 2004, 49(9):1465–1475.

    Article  MathSciNet  Google Scholar 

  4. R. Olfati-Saber, R, M. Murray. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49(9):1520–1533.

    Article  MathSciNet  Google Scholar 

  5. S. Mu, T. Chu, L. Wang. Coordinated collective motion in a motile particle group with a leader[J]. Physica A, 2005, 351(2/4):211–226.

    Article  Google Scholar 

  6. W. Wang, J, Slotine. On partial contraction analysis for coupled nonlinear oscillators[J]. Biological Cybernetics, 2005, 92(1):38–53.

    Article  MATH  MathSciNet  Google Scholar 

  7. R. Olfati-Saber, Flocking for multi-agent dynamic systems: Algorithms and theory[J]. IEEE Transactions on Automatic Control, 2006, 51(3):401–420.

    Article  MathSciNet  Google Scholar 

  8. Y. Hong, J. Hu, L. Gao. Tracking control for multi-agent consensus with an activeleader and variable topology[J]. Automatica, 2006, 42(7):1177–1182.

    Article  MATH  MathSciNet  Google Scholar 

  9. F. Chen, Z. Chen, L. Xiang, et al. Reaching a consensus via pinning control[J]. Automatica, 2008, 45(11):1215–1220.

    Google Scholar 

  10. P. C. Muller, J. Ackermann. Nichtlineare regelung von elastischen robotern[M]//VDI-Berichte 598, Steuerung und Regelung von Roboter. Berlin: Springer-Verlag, 1986:321–333.

    Google Scholar 

  11. M. Nakao, K. Ohnishi, K. Miyachi. A robust decentralized joint control based on interference estimation[C]//Proceedings of the 1987 IEEE International Conference on Robotics and Automation. Washington: IEEE Computer Society Press,1987: 326–333.

    Chapter  Google Scholar 

  12. C. J. Kemf, S. Kobayashi. Disturbance observer and feedforward design for a high-speed direct-drive positioning table[J]. IEEE Transactions on Control Systems Technology, 1999, 7(5):513–526.

    Article  Google Scholar 

  13. Y. H. Huang, W. Messner. A novel disturbance observer design for magnetic hard drive servo system with a rotary actuator[J]. IEEE Transactions on Magnetics, 1998, 34(4):1892–1894.

    Article  Google Scholar 

  14. J. Ishikawa, M. Tomizuka. Pivot friction compensation using an accelerometer and a disturbance observer for hard disk[J]. IEEEASME Transactions on Mechatronics, 1999, 3(3):194–201.

    Article  Google Scholar 

  15. K. Natori, K. Ohnishi. A design method of communication disturbance observer for time delay compensation[J]. IEEE Transactions on Industrial Electronics, 2008, 55(5):2152–2168.

    Article  Google Scholar 

  16. K. Natori, R. Oboe, K. Ohnishi. Stability analysis and practical design procedure of time delayed control systems with communication disturbance observer[J]. IEEE Transactions on Industrial Informatics, 2008, 4(3):185–197.

    Article  Google Scholar 

  17. Y. Oh, W. K. Chung. Disturbance-observer-based motion control of redundant manipulators using inertially decoupled dynamics[J]. IEEE-ASME Transactions on Mechatronics, 1999, 4(2):133–145.

    Article  Google Scholar 

  18. W.-H. Chen, D. J. Ballance, P. J. Gawthrop, et al. A nonlinear disturbance observer for two link robotic manipulators[C]//Proceedings of the 38th IEEE Conference on Decision and Control. Piscataway: IEEE, 2000:3410–3415.

    Google Scholar 

  19. W.-H. Chen. Disturbance observer based control for nonlinear systems[J]. IEEE-ASME Transactions on Mechatonics, 2004, 9(4):706–710.

    Article  Google Scholar 

  20. R. Olfati-Saber, J. A. Fa, R. M. Murray. Consensus and cooperation in networked multi-agent systems[J]. Proceedings of the IEEE, 2007, 95(1):215–233.

    Article  Google Scholar 

  21. R. Grigoriev, M. Cross, H. Schster. Pinning control of spatiotemporal chaos[J]. Physical Review Letters, 1997, 79(15):2795–2798.

    Article  Google Scholar 

  22. N. Parekh, S. Parthasarathy, S. Sinha. Global and local control of spatiotemporal chaos in coupled map lattices[J]. Physical Review Letters, 1998, 81(7):1401–1404.

    Article  Google Scholar 

  23. X. Wang, G. Chen. Pinning control of scale-free dynamical networks[J]. Physica A, 2002, 310(3/4):521–531.

    Article  MATH  MathSciNet  Google Scholar 

  24. X. Li, X. Wang, G. Chen. Pinning a complex dynamical network to its equilibrium[J]. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 2004, 51(10):2074–2087.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Information Science and Engineering, Ludong University, Yantai Shandong, 264025, China

    Hongyong Yang

  2. School of Electronic and Electrical Engineering, Ludong University, Yantai Shandong, 264025, China

    Fucai Wang

  3. School of Automation, Southeast University, Nanjing Jiangsu, 210096, China

    Zhenxing Zhang

  4. Institute of Automation, Qufu Normal University, Qufu Shandong, 273165, China

    Guangdeng Zong

Authors
  1. Hongyong Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fucai Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhenxing Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Guangdeng Zong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hongyong Yang.

Additional information

This work was supported by the National Natural Science Foundation of China (No.60875039, 60774016, 60904022, 60805039).

Hongyong YANG was born in Shandong, China, in 1967. He obtained his Ph.D. degree in Control Theory and Control Engineering from Southeast University of China in 2005. He is currently a professor at the School of Information Science and Engineering, Ludong University, Yantai, China. His current research interests include network congestion control, complex network control, and multiagent alignment control. Corresponding author.

Fucai WANG was born in Shandong, China, in 1965. He received the M.S. degree in Control Theory and Application from Tsinghua University in 1988. Currently, he is an associate professor in the School of Electronic and Electrical Engineering, Yantai, China. His research interests lie in switching control, robust control, and Electrical transmissions.

Zhenxing ZHANG was born in Shandong, China, in 1985. He received his B.S. degree in Information and Calculation Science from Ludong University in 2008. Currently, he is a Ph.D. student at the School of Automation, Southeast University. His main research interests include nonlinear system control, control of aerial vehicle, and disturbance observer.

Guangdeng ZONG was born in Shandong, China, in 1976. He received the Ph.D. degree in Control Theory and Application from Southeast University in 2005. Currently, he is an associate professor in the Institute of Automation at Qufu Normal University, Qufu, China. He devoted to his postdoctoral research work at Nanjing University of Science and Technology from 2006 to 2008. His research interests lie in switching control, robust control, and time-delay systems.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Yang, H., Wang, F., Zhang, Z. et al. Consensus of multiagent systems based on disturbance observer. J. Control Theory Appl. 8, 145–150 (2010). https://doi.org/10.1007/s11768-010-0005-z

Download citation

  • Received:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11768-010-0005-z

Keywords

Search

Navigation