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Consensus Tracking of Second Order Multi-agent Systems with Disturbances under Heterogenous Position and Velocity Topologies

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  • Control Theory and Applications
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Abstract

In this paper, the consensus tracking problem of second order multi-agent systems with disturbance is studied under heterogenous position and velocity topologies. The cases that the disturbances are generated from linear exosystems and nonlinear exosystems are considered, respectively. For achieving consensus, linear disturbance observer and dynamic-gain-based nonlinear disturbance observer using only the velocity information of the agents are proposed, and then control protocols and sufficient conditions for solving the consensus problem are given. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed disturbance observers and control protocols.

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Authors and Affiliations

  1. College of Science, Harbin Engineering University, Harbin, 150001, China

    Xuxi Zhang & Xianping Liu

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  1. Xuxi Zhang
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  2. Xianping Liu
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Correspondence to Xuxi Zhang.

Additional information

Recommended by Associate Editor Hyo-Sung Ahn under the direction of Editor-in-Chief Keum-Shik Hong. This work was supported by the National Natural Science Foundation of China (No. 61503089), the Natural Science Foundation of Heilongjiang Province (No. QC2015077), Postdoctoral research startup foundation of Heilongjiang (No. LBH-Q16068), and the Fundamental Research Funds for the Central Universities (No. HEUCF181103).

Xuxi Zhang received his M.S. and Ph.D. degrees from Harbin Institute of Technology, Harbin, China, in 2005 and 2012, respectively. Since 2005, he has been with the College of Science, Harbin Engineering University, Harbin, China. He is currently an Associate Professor with the College of Science of Harbin Engineering University. His current research interests are distributed control, cooperative control, robust and adaptive nonlinear control.

Xianping Liu received her B.S. degree from Hebei Normal University, Shijiazhuang, and her M.S. degree from Harbin Institute of Technology, Harbin, China, in 2003 and 2005, respectively. Her research interests include functional analysis and cooperative control.

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Zhang, X., Liu, X. Consensus Tracking of Second Order Multi-agent Systems with Disturbances under Heterogenous Position and Velocity Topologies. Int. J. Control Autom. Syst. 16, 2334–2342 (2018). https://doi.org/10.1007/s12555-018-0022-0

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