Leader-following Adaptive Guaranteed-performance Consensus Control for Multi-agent Systems With Exogenous Disturbance

In this paper, the problem of leader-following distributed guaranteed-performance consensus for multi-agent systems (MASs) subject to exogenous disturbances is investigated. First, a disturbance observer is designed for each follower, which can be used to efficiently estimate the external disturbances. Next, an adaptive distributed state feedback consensus protocol with guaranteed performance constraints is proposed based on the above proposed observer. Most of the existing literature on guaranteed performance does not consider unknown disturbances. Unlike existing schemes, consensus control with fully distributed guaranteed-performance is accomplished using this protocol, which solves the consensus control problem of exogenous disturbances. The consensus criterion of adaptive guaranteed-performance is given by using Riccati inequality, and the adjustment method of consensus control gain is given by using linear matrix inequality for leader-following situation. At last, the derived analytical results are validated by presenting a simulation example.