Finite-time output consensus control of nonlinear uncertain multi-agent systems via extended state observer

Abstract

This paper investigates the finite-time consensus problem for nonlinear uncertain multi-agent systems (MASs) affected by mismatched uncertainties and disturbances, as well as partial measurements. An active disturbance rejection control (ADRC) strategy that combines the backstepping technique with an extended state observer is proposed. Firstly, a finite-time state feedback controller is designed to ensure consensus when ignoring external disturbances. Secondly, a finite-time extended state observer (FTESO) is proposed for each agent to estimate the unavailable state and external disturbances, and a feedforward-feedback composite consensus controller is then developed. Furthermore, utilizing the homogeneous domination approach, we demonstrate that the proposed composite control strategy guarantees finite-time output consensus. Finally, the effectiveness of the proposed composite control strategy is illustrated using a multiple-manipulator system as an example.