Abstract
In this paper, we study output feedback leader-follower consensus problem for multiagent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-based extended state observer is designed for each follower with relative output information of the neighboring agents. Then, leader-follower consensus protocols are proposed which can compensate the delays and disturbances efficiently. In particular, the proposed observer and controller do not contain any integral term of the past control input and hence are easy to implement. Consensus analysis is put in the framework of Lyapunov-Krasovskii functionals and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Then, the results are extended to nonlinear multiagent systems with nonlinear disturbances. Finally, the validity of the proposed design is demonstrated through a numerical example of network-connected unmanned aerial vehicles.
Highlights
I N RECENT years, cooperative control of a group of agents has drawn increased attention due to its high potential in many applications, such as vehicle formation [1], [2], synchronization [3], satellite clusters [4], and distributed sensor network [5]
Consensus control is a fundamental problem in distributed cooperative control of multiagent systems, which deals with the control design to ensure that all the agents achieve the same control objective, such as common output or Manuscript received July 19, 2017; revised October 30, 2017, January 5, 2018, and January 15, 2018; accepted January 16, 2018
Output feedback truncated prediction feedback (TPF) consensus controller is given in [37] for some special input-delayed multiagent systems that the eigenvalues of A matrix are on the imaginary axis
Summary
I N RECENT years, cooperative control of a group of agents has drawn increased attention due to its high potential in many applications, such as vehicle formation [1], [2], synchronization [3], satellite clusters [4], and distributed sensor network [5]. Output feedback TPF consensus controller is given in [37] for some special input-delayed multiagent systems that the eigenvalues of A matrix are on the imaginary axis. The main purpose of this paper is to further advance the application of state predictor feedback method in consensus control of multiagent systems with mixed time delays. Unlike [32]–[34] where traditional state predictors are designed for multiagent systems with input delay, in this paper, a new structure of state predictor is designed for each agent without the use of any integral term of the past control input, which greatly reduces the computation burden and improves the practical implementation.
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