Coordination of Multi-Agent Systems under Switching Topologies via Disturbance Observer Based Approach

TL;DR

This paper addresses the coordination of heterogeneous multi-agent systems with switching communication topologies and local disturbances by employing disturbance observers and Lyapunov functions, demonstrating effectiveness through simulations.

Contribution

It introduces two disturbance observer based protocols for multi-agent coordination under switching topologies with disturbances, using Lyapunov techniques for stability.

Findings

Protocols successfully reject disturbances in simulations.

Effective coordination achieved despite switching topologies.

Disturbance estimation improves system robustness.

Abstract

In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may disrupt the performance of agents, a disturbance observer based approach is employed to estimate and reject them. Varying communication topologies are also taken into consideration, and their byproduct difficulties are overcome by using common Lyapunov function techniques. According to the available information in difference cases, two disturbance observer based protocols are proposed to solve this problem. Their effectiveness is verified by simulations.