Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer

Xiaoyan Li; Jiayuan Shan; Chunyan Wang; Jianan Wang

doi:10.1109/ISAS55863.2022.9757315

Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer

Xiaoyan Li, Jiayuan Shan, Chunyan Wang, Jianan Wang

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a consensus problem of the directed connection topology with unknown external disturbances in multi-agent systems is considered. First, in order to approximate each agent's state and disturbance, an adaptive disturbance observer is presented. Next, based on the estimated value of the observer and related state information, a distributed consensus control protocol is designed. The conditions of global consensus control are determined by using the characteristics in real Jordan form of the Laplacian matrix. In particular, the proposed observer is completely decoupled from the consensus control. Then, the asymptotic convergence of the observer estimation error and the closed-loop stability of the proposed control protocol in time domain are analyzed under the framework of Lyapunov functions. Finally, simulations show the validity of the theoretical research.

Original language	English
Title of host publication	2022 5th International Symposium on Autonomous Systems, ISAS 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665487085
DOIs	https://doi.org/10.1109/ISAS55863.2022.9757315
Publication status	Published - 2022
Event	5th International Symposium on Autonomous Systems, ISAS 2022 - Hangzhou, China Duration: 8 Apr 2022 → 10 Apr 2022

Publication series

Name	2022 5th International Symposium on Autonomous Systems, ISAS 2022

Conference

Conference	5th International Symposium on Autonomous Systems, ISAS 2022
Country/Territory	China
City	Hangzhou
Period	8/04/22 → 10/04/22

Keywords

adaptive disturbance observer
consensus control
directed topology
external disturbance
multi-agent systems

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10.1109/ISAS55863.2022.9757315

Cite this

@inproceedings{fe7bde60103841819fc1cb74390ef3b4,

title = "Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer",

abstract = "In this paper, a consensus problem of the directed connection topology with unknown external disturbances in multi-agent systems is considered. First, in order to approximate each agent's state and disturbance, an adaptive disturbance observer is presented. Next, based on the estimated value of the observer and related state information, a distributed consensus control protocol is designed. The conditions of global consensus control are determined by using the characteristics in real Jordan form of the Laplacian matrix. In particular, the proposed observer is completely decoupled from the consensus control. Then, the asymptotic convergence of the observer estimation error and the closed-loop stability of the proposed control protocol in time domain are analyzed under the framework of Lyapunov functions. Finally, simulations show the validity of the theoretical research.",

keywords = "adaptive disturbance observer, consensus control, directed topology, external disturbance, multi-agent systems",

author = "Xiaoyan Li and Jiayuan Shan and Chunyan Wang and Jianan Wang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 5th International Symposium on Autonomous Systems, ISAS 2022 ; Conference date: 08-04-2022 Through 10-04-2022",

year = "2022",

doi = "10.1109/ISAS55863.2022.9757315",

language = "English",

series = "2022 5th International Symposium on Autonomous Systems, ISAS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2022 5th International Symposium on Autonomous Systems, ISAS 2022",

address = "United States",

}

Li, X, Shan, J , Wang, C & Wang, J 2022, Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer. in 2022 5th International Symposium on Autonomous Systems, ISAS 2022. 2022 5th International Symposium on Autonomous Systems, ISAS 2022, Institute of Electrical and Electronics Engineers Inc., 5th International Symposium on Autonomous Systems, ISAS 2022, Hangzhou, China, 8/04/22. https://doi.org/10.1109/ISAS55863.2022.9757315

Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer. / Li, Xiaoyan; Shan, Jiayuan ; Wang, Chunyan et al.
2022 5th International Symposium on Autonomous Systems, ISAS 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 5th International Symposium on Autonomous Systems, ISAS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer

AU - Li, Xiaoyan

AU - Shan, Jiayuan

AU - Wang, Chunyan

AU - Wang, Jianan

PY - 2022

Y1 - 2022

N2 - In this paper, a consensus problem of the directed connection topology with unknown external disturbances in multi-agent systems is considered. First, in order to approximate each agent's state and disturbance, an adaptive disturbance observer is presented. Next, based on the estimated value of the observer and related state information, a distributed consensus control protocol is designed. The conditions of global consensus control are determined by using the characteristics in real Jordan form of the Laplacian matrix. In particular, the proposed observer is completely decoupled from the consensus control. Then, the asymptotic convergence of the observer estimation error and the closed-loop stability of the proposed control protocol in time domain are analyzed under the framework of Lyapunov functions. Finally, simulations show the validity of the theoretical research.

AB - In this paper, a consensus problem of the directed connection topology with unknown external disturbances in multi-agent systems is considered. First, in order to approximate each agent's state and disturbance, an adaptive disturbance observer is presented. Next, based on the estimated value of the observer and related state information, a distributed consensus control protocol is designed. The conditions of global consensus control are determined by using the characteristics in real Jordan form of the Laplacian matrix. In particular, the proposed observer is completely decoupled from the consensus control. Then, the asymptotic convergence of the observer estimation error and the closed-loop stability of the proposed control protocol in time domain are analyzed under the framework of Lyapunov functions. Finally, simulations show the validity of the theoretical research.

KW - adaptive disturbance observer

KW - consensus control

KW - directed topology

KW - external disturbance

KW - multi-agent systems

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U2 - 10.1109/ISAS55863.2022.9757315

DO - 10.1109/ISAS55863.2022.9757315

M3 - Conference contribution

AN - SCOPUS:85129465133

T3 - 2022 5th International Symposium on Autonomous Systems, ISAS 2022

BT - 2022 5th International Symposium on Autonomous Systems, ISAS 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th International Symposium on Autonomous Systems, ISAS 2022

Y2 - 8 April 2022 through 10 April 2022

ER -

Consensus Control of Multi-Agent Systems Based on Adaptive Disturbance Observer

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