Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances

Xiaozhi Yu, Zhen He, Feng Yu

Abstract

Most existing research concerning the consensus problem of multi-agent systems has been focused on linear first-order or two-order systems without disturbances. However, in practice, most multi-agent systems are complicated nonlinear system subjected to disturbances. In this paper, the coordinated tracking problem for nonlinear undirected multi-agent systems with exogenous disturbances is studied in the framework of consensus theory. The exogenous disturbances generated by both linear exosystems and nonlinear exosystems are considered. Disturbance observers are developed to estimate the disturbances generated by the linear exogenous systems. The Lyapunov stability theorem is used to prove the asymptotical consensus of the systems. The dynamic gain technique is used to construct the disturbance observer for the disturbance generated by a nonlinear exosystem. Based on the adaptive disturbance observer, a consensus protocol is proposed for the nonlinear multi-agent system. Finally, the proposed design approaches are verified though simulation examples.

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Paper Citation


in Harvard Style

Yu X., He Z. and Yu F. (2015). Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 281-286. DOI: 10.5220/0005566702810286


in Bibtex Style

@conference{icinco15,
author={Xiaozhi Yu and Zhen He and Feng Yu},
title={Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={281-286},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005566702810286},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Consensus of Nonlinear Multi-Agent Systems with Exogenous Disturbances
SN - 978-989-758-122-9
AU - Yu X.
AU - He Z.
AU - Yu F.
PY - 2015
SP - 281
EP - 286
DO - 10.5220/0005566702810286