Consensus Disturbance Rejection of Nonlinear Multi-Agent Systems Over Cooperation-Competition Networks

This study addresses the consensus problem for nonlinear multi-agent systems (MASs) under the exogenous disturbances over cooperation-competition networks. Firstly, for judging the disturbances produced by the exogenous environment, a disturbance observer-based approach is developed and incorporated into the controller. Secondly, two novel nonlinear control protocols depended on state feedback and output feedback control are constructed to guarantee consensus for MASs over the signed directed graph, respectively. Thirdly, theoretical guarantees on the effectiveness of the proposed controller in steering the system to a bipartite leader-following consensus with exogenous disturbances are derived. Finally, numerical simulations inspired by a real-world physical MAS are provided to illustrate the effectiveness of the proposed controllers.