Leader-Following Consensus of Singular Nonlinear Multi-Agent Systems with Unknown External Disturbances
作者单位：School of AutomationNanjing University of Science and Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词：Singular multi-agent systems Leader-following consensus Nonlinear dynamics Unknown external disturbances Extended state observer
摘 要：This paper focuses on consensus control for singular multi-agent systems with unknown external disturbances. Each agent is modeled by nonlinear dynamics, and a leader-following system is considered. Then, to eliminate disturbance and achieve leader-following consensus of the studied system, an extended state observer-based distributed consensus protocol is proposed in this paper. By means of matrix analysis and Lyapunov theory, we establish sufficient conditions of leader-following consensus for singular nonlinear multi-agent systems. Finally, a numerical example is presented to show the feasibility of the proposed method.