Distributed Disturbance Observer based Consensus Control for Linear Multi-agent Systems with Mismatched Disturbances

This paper proposes two kinds of distributed disturbance observer (DO) based consensus control laws for linear multi-agent systems (MAS) with mismatched disturbances. For a linear MAS with mismatched disturbances generated by exosystems, we design relative information based distributed DOs for each agent to obtain information of disturbances. The first method is to utilise the information of disturbances obtained by the distributed DO as a feedforward term to reject influence of exogenous disturbances for consensus results, where the gain matrix of the feedforward term is obtained via solving a matrix equation. The second method is to design an internal model based dynamic compensator to reject influence of exogenous disturbances, where the dynamic compensator is also updated by the distributed DO. The leaderless and leader-follower consensus are both considered in this paper, and rigorous proof of consensus results is also given. Finally, some numerical simulations verify effectiveness of the proposed consensus control laws.