Robust almost output consensus in networks of nonlinear agents with external disturbances

Xinghu Wang ^[1] ; Dabo Xu ^[2] ; Haibo Ji ^[1]
1. [1] University of Science and Technology of China
  
  University of Science and Technology of China
  
  China
2. [2] Nanjing University of Science and Technology
  
  Nanjing University of Science and Technology
  
  China
Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 70, 2016, págs. 303-311
Idioma: inglés
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Resumen
- This paper considers robust almost output consensus control for heterogeneous and disturbed multi-agent nonlinear systems by distributed output feedback control. Taking the effect of inherent unmodeled disturbances into account, we develop a reduced order observer based consensus protocol with a performance constraint. Our study not only encompasses internal asymptotic output consensus, but also assures certain disturbance attenuation to the closed-loop system. Substantial difficulties due to nonidentical relative degrees and directed interaction graphs are surmounted in this result. Moreover, we show that in the linear case, it comes up with a novel H∞H∞ almost output consensus design that improves some results recently developed in the literature