Consistency Control of Multi - Agent System Based on Unknown Input Observer

摘要

In this paper, a robust consistency control strategy aiming at the consistency problem of a class of nonlinear multi-agent systems with unknown input is designed. First of all, considering that the state of each agent is not measurable, and the time delay is inevitable in the signal transmission process, an unknown input observer with time-delay estimation is designed. Then the consistency control protocol of the multi-agent system is designed based on the estimator of the observer. Finally, the convergence of the system state synchronization error and the observer state error is verified by theoretical verification and simulation verification.