Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs
Systems and Control
2024-03-26 v2 Multiagent Systems
Robotics
Systems and Control
Abstract
This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances. In both problems, we present simple continuous controllers, whose integral actions allow us to handle the disturbances. A rigorous stability analysis based on Lyapunov's direct method for unperturbed networked systems is presented. To assess the performance of our result, a representative simulation study is presented.
Keywords
Cite
@article{arxiv.2310.00262,
title = {Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs},
author = {Jose Guadalupe Romero and David Navarro-Alarcon},
journal= {arXiv preprint arXiv:2310.00262},
year = {2024}
}