Output Consensus of Heterogeneous Multi-Agent Systems with Mismatched Uncertainties and Measurement Noises: An ADRC Approach

TL;DR

This paper presents an ADRC-based control approach for achieving output consensus in heterogeneous multi-agent systems with mismatched uncertainties, disturbances, and noise, ensuring bounded states and practical tracking.

Contribution

It introduces a reversible state transformation and extended state observers to estimate disturbances, enabling effective output consensus in complex multi-agent systems.

Findings

Outputs of followers track the leader practically

States of the system are proven to be bounded

Control protocols are validated through numerical simulations

Abstract

In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched disturbances, mismatched uncertainties, and measurement noises is addressed. By introducing a reversible state transformation without changing the output, the actual total disturbance affecting output performance of each agent and matched with the control input of the transformed system is extracted and estimated by extended state observers. Then, the control protocols based on estimates of extended state observers, are designed by combing the output feedback control ones to obtain output consensus and feedforward compensators to attenuating the total disturbance of each agent actively. It is shown with a rigorous proof that the outputs of all followers can track practically the output of the leader, and all the states of the leader-follower multi-agent systems are bounded. Some numerical simulations are performed to verify the validity of the control protocols and theoretical result.