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Consensus Tracking of Second Order Multi-agent Systems with Disturbances under Heterogenous Position and Velocity Topologies

Xuxi Zhang* and Xianping Liu
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2334-2342, 2018

Abstract : "In this paper, the consensus tracking problem of second order multi-agent systems with disturbance is studied under heterogenous position and velocity topologies. The cases that the disturbances are generated from linear exosystems and nonlinear exosystems are considered, respectively. For achieving consensus, linear disturbance observer and dynamic-gain-based nonlinear disturbance observer using only the velocity information of the agents are proposed, and then control protocols and sufficient conditions for solving the consensus problem are given. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed disturbance observers and control protocols."

Keyword : Disturbance observer, dynamic gain, heterogenous topologies, multi-agent systems.

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