Title

Consensus Control of High-Order Multi-Agent Systems with Delayed Feedback and Matched Disturbances

Document Type

Conference Proceeding

Publication Date

5-25-2021

Abstract

We solve a consensus problem for high-order multi-agent systems with matched disturbances. By modeling the disturbance as an extended state, we design an extended state observer to estimate the state and the disturbance of each agent. Using delayed estimated states from neighbors, we design a distributed control law to ensure that all agents achieve a state consensus. Our Lyapunov-Krasovskii functional method yields sufficient conditions for asymptotic stability of the multi-agent system under a strongly connected digraph, in terms of an upper bound on the delays. We illustrate our method using a multi-agent system under an interaction topology.

Publication Source (Journal or Book title)

Proceedings of the American Control Conference

First Page

4729

Last Page

4734

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