Consensus tracking of second order multi-agent systems with disturbances under heterogenous topologies

In this paper, the consensus 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. 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 consensus are given.