Consensus Control and Disturbance Rejection for Leader-Following Multi-Agent Systems Based on Reduced-Order Observers

The focus of this paper is on the issue of disturbance rejection in leader-follower multi-agent systems based on a reduced-order observer. By combining with the practical, unknown perturbations are considered to be generated by the external system by designing a reduced-order estimation observer to obtain an estimate of the disturbances in the followers. Second, a control protocol is designed for each follower based on the obtained estimates. The design method of the reduced-order observer used in this paper simplifies the state equations of the reduced-order observer by reducing the order compared to the full-order observer, which is simpler to compute and can also effectively suppress the effects of disturbances. Finally, the feasibility of this scheme is verified by numerical examples.