Distributed Adaptive Consensus Protocols for Linear Multi-agent Systems with Directed Graphs and External Disturbances

TL;DR

This paper develops distributed adaptive consensus protocols for linear multi-agent systems with directed graphs and external disturbances, ensuring bounded consensus errors and robustness in a fully distributed manner.

Contribution

It introduces novel adaptive protocols that are fully distributed and robust against external disturbances for directed graph multi-agent systems.

Findings

Protocols ensure ultimate boundedness of consensus error

Explicit bounds for consensus error are provided

Protocols are robust and fully distributed

Abstract

This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower graphs containing a directed spanning tree with the leader as the root are discussed. Distributed adaptive consensus protocols based on the relative states of neighboring agents are designed, which can ensure the ultimate boundedness of the consensus error and adaptive gains in the presence of external disturbances. The upper bounds of the consensus error are further explicitly given. Compared to the existing consensus protocols, the merit of the adaptive protocols proposed in this paper is that they can be computed and implemented in a fully distributed fashion and meanwhile are robust with respect to external disturbances.