Distributed PI Control for Consensus of Heterogeneous Multiagent Systems Over Directed Graphs

This paper considers the consensus control problem of heterogeneous linear multiagent systems. A distributed proportional-integral (PI) protocol is presented to ensure consensus of heterogeneous linear multiagent systems with directed communication graphs. Sufficient conditions for the choice of control parameters are derived. For the case that the agents are subject to the external time-varying but bounded disturbances, the proposed distributed PI protocol can assure uniformly ultimate boundedness of the consensus error. The effectiveness of the results is illustrated both theoretically and numerically.