Robust Consensus Tracking Control of Uncertain Multi-Agent Systems With Local Disturbance Rejection

this paper, a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. It is of two-degree-of -freedom nature. Specifically, a robust distributed controller is designed for consensus tracking, while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances. The condition for asymptotic disturbance rejection is derived. Moreover, even when the disturbance model is not exactly known, the developed method also provides good disturbance-rejection performance. Then, a robust stabilization condition with less conservativeness is derived for the whole multi-agent system. Further, a design algorithm is given. Finally, comparisons with the conventional one-degree-of -freedom-based distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.