Paper Info
Title
Predictor-Based Extended-State-Observer Design for Consensus of MASs With Delays and Disturbances.
Abstract
In this paper, we study output feedback leader-follower consensus problem for multiagent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-based extended state observer is designed for each follower with relative output information of the neighboring agents. Then, leader-follower consensus protocols are proposed which can compensate the delays and disturbances efficiently. In particular, the proposed observer and controller do not contain any integral term of the past control input and hence are easy to implement. Consensus analysis is put in the framework of Lyapunov-Krasovskii functionals and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Then, the results are extended to nonlinear multiagent systems with nonlinear disturbances. Finally, the validity of the proposed design is demonstrated through a numerical example of network-connected unmanned aerial vehicles.
Year
DOI
Venue
2019
10.1109/TCYB.2018.2799798
IEEE transactions on cybernetics
Keywords
Field
DocType
Delays,Multi-agent systems,Observers,Output feedback,Delay effects,Protocols
State observer,Consensus,Control theory,Mathematical optimization,Nonlinear system,Multi-agent system,Input/output,Observer (quantum physics),Mathematics
Journal
Volume
Issue
ISSN
49
4
2168-2275
Citations 
PageRank 
References 
5
0.40
0
Authors
4
Name
Order
Citations
PageRank
Chunyan Wang15312.52
Zongyu Zuo256030.83
Zhen-qiang Qi351.42
Zhengtao Ding4315.53