{"title":"Output Consensus of Heterogeneous Multiagent Systems With Mismatched Uncertainties and Measurement Noises: An ADRC Approach","authors":"Mengling Li;Ze-Hao Wu;Feiqi Deng;Zhi-Liang Zhao","doi":"10.1109/JSYST.2024.3368020","DOIUrl":null,"url":null,"abstract":"This article addresses the practical output consensus of a class of heterogeneous leader–follower multiagent systems with directed network topology. The total disturbance of each agent, which is the nonlinear coupling effect of disturbances, uncertainties, and measurement noises mismatched with control inputs in large scale, is estimated in real time by a set of extended state observers. Extended state observers-based consensus protocols are then designed to obtain the output consensus, with the total disturbance of each agent be rejected actively. Both the convergence of the tracking error between outputs of all followers and the output of the leader in practical sense and the boundedness of all states are presented with theoretical analysis. Finally, the rationality of the control strategy and main result are verified by a numerical example.","PeriodicalId":55017,"journal":{"name":"IEEE Systems Journal","volume":"18 2","pages":"1436-1446"},"PeriodicalIF":4.0000,"publicationDate":"2024-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Systems Journal","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10458896/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article addresses the practical output consensus of a class of heterogeneous leader–follower multiagent systems with directed network topology. The total disturbance of each agent, which is the nonlinear coupling effect of disturbances, uncertainties, and measurement noises mismatched with control inputs in large scale, is estimated in real time by a set of extended state observers. Extended state observers-based consensus protocols are then designed to obtain the output consensus, with the total disturbance of each agent be rejected actively. Both the convergence of the tracking error between outputs of all followers and the output of the leader in practical sense and the boundedness of all states are presented with theoretical analysis. Finally, the rationality of the control strategy and main result are verified by a numerical example.
期刊介绍：
This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
