Consensus disturbance rejection of network-connected dynamic systems with input delay and unknown network connectivity * * This research was supported by the National Natural Science Foundation of China (No. 61673034), and the China Scholarship Council (CSC).

摘要

In this paper, we consider the distributed consensus problem for multi-agent systems with input delay and unknown disturbances. To deal with the input delay and disturbances, a predictor- and disturbance observer-based control strategy is developed for each follower. Then, a distributed robust adaptive consensus protocol with dynamic coupling gains is proposed based on the relative state of the neighbouring agents, guaranteeing that all signals in the closed-loop dynamics are uniformly ultimately bounded and the consensus tracking error converges to an arbitrarily small residual set. The controllers are proposed in a fully distributed way such that the global information related to the eigenvalues of the Laplacian matrix is not needed. Finally, the validity of the proposed controller is demonstrated through a numerical example.