Disturbance Estimation based Robust Consensus of Nonlinear Multi-agent Systems
作者： Jaywant P. Kolhe , Adarsh Kodhanda , Madhav M. Kuber
DOI: 10.1109/ICC47138.2019.9123189
关键词: Average consensus 、 Fixed topology 、 Filter design 、 Multi-agent system 、 Computer simulation 、 Control theory 、 Computer science 、 Nonlinear system 、 Estimator 、 Robustness (computer science)
摘要: In this work, a new design based on disturbance estimation for the robust consensus of multi-agent systems is proposed where all agents are modelled as non-linear dynamic systems. Here fixed topology considered and it assumed that share relative information their states with each other. The average algorithm augmented Uncertainty Disturbance Estimator (UDE) to achieve robustness. doing so, state dependent nonlinearities system part uncertainties be estimated. has two aspects, agreement well cancellation external disturbances acting agent. obtained using novel filter UDE. Closed loop stability overall established numerical simulation results approach presented demonstrate its efficacy against different disturbances.
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