Extended observer-based consensus tracking control for MASs with external disturbance and dynamic event-triggered strategy

This article explores the leader-following consensus tracking (LFCK) control issues of multi-agent systems (MASs) in the presence of external disturbances and general directed fixed communication topology. Its purpose is to enable all follower agents to achieve consensus tracking for the leader agent. Firstly, this article introduces an extended state observer for estimating each follower agent’s unknown state and external disturbance. Subsequently, on the basis of the above-extended state observer and a dynamic event-triggered strategy, a distributed consensus tracking control protocol with disturbances restraint is developed, which can reduce the MAS’s update frequency on the premise of ensuring the control protocol’s effectiveness. Furthermore, the MAS’s stability and the absence of Zeno behavior are analyzed and proved by the established Lyapunov functional and linear matrix inequality theory. Finally, the validity and feasibility of the proposed approach are validated through a group of comparative numerical simulation experiments.