Leader-Following Consensus of Singular Nonlinear Multi-Agent Systems with Unknown External Disturbances

Abstract

This paper focuses on consensus control for singular multi-agent systems with unknown external disturbances. Each agent is modeled by nonlinear dynamics, and a leader-following system is considered. Then, to eliminate disturbance and achieve leader-following consensus of the studied system, an extended state observer-based distributed consensus protocol is proposed in this paper. By means of matrix analysis and Lyapunov theory, we establish sufficient conditions of leader-following consensus for singular nonlinear multi-agent systems. Finally, a numerical example is presented to show the feasibility of the proposed method.