Leader-following almost output consensus for discrete-time heterogeneous multi-agent systems in the presence of external disturbances

In this paper, we consider the problem of leader-following almost output consensus for discrete-time multi-agent systems with heterogeneous follower agents. Conditions on agent dynamics, the communication topology and how the disturbance enters the agent dynamics are established under which leader-f...

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Bibliographic Details
Published in:Systems & control letters 2022-11, Vol.169, p.105380, Article 105380
Main Authors: Meng, Tingyang, Lin, Zongli
Format: Article
Language:English
Subjects:
Distributed control
Disturbance decoupling
Heterogeneous agents
Low gain feedback
Multi-agent systems
Non-minimum phase
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Summary:In this paper, we consider the problem of leader-following almost output consensus for discrete-time multi-agent systems with heterogeneous follower agents. Conditions on agent dynamics, the communication topology and how the disturbance enters the agent dynamics are established under which leader-following almost output consensus can be achieved, that is, the leader-following output consensus can be reached with any pre-specified level of accuracy and the effect of the disturbance on the leader-following consensus can be attenuated to any pre-specified level. A family of state feedback consensus protocols are constructed by using the low gain feedback design technique and a modified discrete-time Riccati equation. These consensus protocols are shown to achieve leader-following almost output consensus. Additional conditions are identified under which output feedback results are established. Simulation results demonstrate the effectiveness of the proposed consensus protocols.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2022.105380