Distributed Optimal Consensus Control for Heterogeneous Multi-agent System with Disturbance

This paper develops a distributed control protocol for the distributed optimal consensus problem of multi-agent systems. The dynamics of multi-agent systems are heterogeneous linear. Considering that multi-agent systems often face various external disturbances in practical applications, which may seriously affect the performance and stability of the system. The control protocol proposed in this paper pays special attention to dealing with external disturbances in linear dynamic systems. Theoretical results show that the distributed control protocol is robust under the external disruption and drives the states of each agent to the auxiliary variable in a finite time. Further, with the aid of Lyapunov method, the states of close-loop system globally converge to the optimal solution of the non-smooth optimization problem. Finally, the simulation results demonstrate the effectiveness of proposed control protocol.