Robust consensus of unknown heterogeneous non‐minimum phase multi‐agent systems with unmodeled dynamics and disturbances

Abstract

SummaryIn this paper, the robust leader‐following output consensus problem is addressed for unknown heterogeneous non‐minimum phase linear multi‐agent systems with unmodeled dynamics and external disturbances under directed graphs. The system matrix of the leader and the parameters of the nominal dynamics of the followers are assumed to be unknown. A novel distributed robust adaptive pole placement control scheme consisting of an adaptive distributed observer and a robust adaptive pole placement controller is developed. It is shown that the robust leader‐following output consensus problem of the concerned multi‐agent system can be solved by the proposed distributed robust adaptive control scheme under some sufficient conditions. It is also shown that the exact output consensus can be achieved if the unmodeled dynamics and external disturbances vanish as time goes to infinity. Two examples are used to demonstrate the effectiveness of the proposed control approach.