Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs

TL;DR

This paper introduces robust integral controllers for multi-agent networks with directed graphs, effectively achieving consensus despite matched and unmatched disturbances, validated through stability analysis and simulations.

Contribution

It develops simple continuous controllers with integral actions for directed networks under disturbances, providing a new robust consensus control approach.

Findings

Controllers successfully achieve consensus under disturbances

Stability proven via Lyapunov's method

Simulation confirms effectiveness of the approach

Abstract

This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances. In both problems, we present simple continuous controllers, whose integral actions allow us to handle the disturbances. A rigorous stability analysis based on Lyapunov's direct method for unperturbed networked systems is presented. To assess the performance of our result, a representative simulation study is presented.