Consensus of mobile multiple agent systems with disturbance-observer-based control
采用干扰–观测器控制的移动智能体系统之一致性

Consensus problem of mobile multiple agents with nonlinear coupled function and exogenous disturbances is studied. A pinning control, which has poor disturbance compensation ability, is presented to bring the consensus of multi-agent to an expectation value without disturbances. By applying the disturbance-observer-based control(DOBC), all the agents in the network can asymptotically reach consensus when disturbances are generated by a linear exogenous system. By analyzing the mobile multi-agent systems with fixed and switching topologies, the convergence conditions are obtained for multi-agent dynamical systems with exogenous disturbances from the disturbance-observer-based control. Finally, numerical examples support the analytical results.