Distributed Active Anti-Disturbance Consensus for Leader-Follower Higher-Order Multi-Agent Systems With Mismatched Disturbances

被引：208
作者：
Wang, Xiangyu [1 ,2 ]
Li, Shihua [1 ,2 ]
Yu, Xinghuo [3 ]
Yang, Jun [1 ,2 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
[2] Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China
[3] RMIT Univ, Platform Technol Res Inst, Melbourne, Vic 3001, Australia
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2017年 / 62卷 / 11期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Consensus; distributed active anti-disturbance cooperative control; disturbance observer based control; higher-order multi-agent systems; mismatched disturbances; non-singular terminal sliding mode; FINITE-TIME CONSENSUS; DOUBLE-INTEGRATOR DYNAMICS; NONLINEAR-SYSTEMS; OUTPUT REGULATION; TRACKING CONTROL; NETWORKS; AGENTS; ALGORITHMS; STABILITY; REJECTION;
D O I：
10.1109/TAC.2016.2638966
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This technical note studies the finite-time consensus problem of leader-follower higher-order multi-agent systems with mismatched disturbances. To solve such a problem, by combining the non-singular terminal sliding-mode control (NTSMC) and disturbance observer based control (DOBC) methods together, a distributed active anti-disturbance cooperative control scheme is proposed. Firstly, to estimate the matched/mismatched disturbances of each follower, a finite-time disturbance observer is constructed. Secondly, by distributedly employing the mismatched disturbances estimates, integral-type non-singular terminal sliding-mode surfaces are designed for followers. Thirdly, distributed protocols are proposed based on the surfaces. In the presence of mismatched disturbances, these protocols achieve finite-time output consensus for the agents. Simulations validate the correctness and effectiveness of the proposed control scheme.
引用
收藏
页码：5795 / 5801
页数：7
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