Consensus of multiagent systems based on disturbance observer

The objectives of this work are the development and design of disturbance observers (DO's) for a team of agents that accomplish consensus on agents' states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents' states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO's are illuminated.