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Distributed output-feedback consensus control of multi-agent systems with dynamically changing directed interaction

Maopeng Ran1, Yanze Hou2, Xuan Gong1

  • 1School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China.

ISA Transactions
|November 29, 2018
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Summary
This summary is machine-generated.

This study addresses distributed consensus control for multi-agent systems with complex dynamics and disturbances. A novel control protocol using an extended state observer ensures agents achieve consensus despite changing network structures.

Keywords:
Consensus controlExtended state observerMulti-agent systems

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Area of Science:

  • Control Systems Engineering
  • Networked Systems
  • Robotics

Background:

  • Multi-agent systems require coordinated behavior for complex tasks.
  • Achieving consensus under dynamic conditions and unknown disturbances is challenging.
  • Output-feedback control is crucial when states are not directly measurable.

Purpose of the Study:

  • To develop a distributed output-feedback consensus control strategy.
  • To handle higher-order linear dynamics and external disturbances.
  • To address dynamically changing directed network topologies.

Main Methods:

  • Design of an extended state observer (ESO) to estimate states and disturbances.
  • Proposal of a novel distributed control protocol based on ESO outputs.
  • Analysis of consensus achievement under frequently connected spanning trees.

Main Results:

  • The proposed ESO effectively estimates unmeasurable states and external disturbances.
  • The novel control protocol guarantees asymptotic consensus for the multi-agent system.
  • Consensus is achieved even with time-varying network topologies and weights.

Conclusions:

  • The developed distributed control strategy is effective for complex multi-agent systems.
  • The ESO-based approach provides robust state and disturbance estimation.
  • Theoretical results are validated through numerical simulations.