Consensus Control for General Multi-Agent Networks Perturbed by Unknown Disturbances

The distributed consensus control is talked about for general multi-agent networks perturbed by exogenous disturbances including matched and mismatched ones. Incorporating the equivalent-input-disturbance (EID) concept, a new protocol is devised for the rejection of disturbances including both matched and mismatched ones. Specifically, the outputs of the multi-agent network attain asymptotically consensus regardless of the mismatched disturbances; and the states achieve asymptotically consensus in spite of matched ones. Moreover, the developed protocol does not increase extra restraints on system design compared with the original protocol without considering disturbance rejection, and only a few requirements on the disturbances are made. The information shared among the multi-agent network is only the relative output between neighboring agents. Finally, numerical simulation validates the developed method.