Consensus for Leader-follower Multi-agent Systems with Mismatched Disturbance and Correlated Uncertainties

To overcome cooperative control problem of multi-agent systems with disturbances, we presented the output consensus control problem of leader-follower multi-agent systems with mismatched disturbance and the rela-tive parametric uncertainties. First, we designed an active disturbance observer to estimate the disturbances of each agent. Then, based on the disturbance feedforward compensation and output feedback control, we proposed a composite consensus control protocol. The sufficient conditions for the consensus problem of leader-following multi-agent systems were obtained by applying the theory of modern control and the linear matrix inequality. Finally, our numerical simulation results proved the feasibility of the cooperative control.