Consensus Control of High-Order Multi-Agent Systems with Delayed Feedback and Matched Disturbances

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Conference Proceeding

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We solve a consensus problem for high-order multi-agent systems with matched disturbances. By modeling the disturbance as an extended state, we design an extended state observer to estimate the state and the disturbance of each agent. Using delayed estimated states from neighbors, we design a distributed control law to ensure that all agents achieve a state consensus. Our Lyapunov-Krasovskii functional method yields sufficient conditions for asymptotic stability of the multi-agent system under a strongly connected digraph, in terms of an upper bound on the delays. We illustrate our method using a multi-agent system under an interaction topology.

Publication Source (Journal or Book title)

Proceedings of the American Control Conference

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