External Consensus of Multi-agent Systems Based on Equivalent Input Disturbance

In this paper, the external consensus problem of viscous nonlinearity multi-agent system via the controller design based on EID estimator has been discussed. A novel consensus control is developed by using a feedback controller based on disturbance rejection. Specifically, the disturbance rejection performance of the multi-agent system is improved according to the estimation of equivalent-input-disturbance. Furthermore, a robust feedback controller for each agent is designed such that the external consensus of the multi-agent system affected by valve stiction disturbance can be ensured. Finally, a simulation example is provided to demonstrate the validity of this method.