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Robust Consensus Output Tracking of Multi-Agent Systems With Directed Communications

[+] Author Affiliations
Z. Wang, W. Zhang, Y. Guo

Stevens Institute of Technology, Hoboken, NJ

Paper No. DSCC2010-4193, pp. 385-392; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the reference. The control scheme avoids estimation of the derivatives of neighbor’s states through measurement as done in previous work and guarantees a finite L2 -gain from the reference to an transformed output. Simulation results show satisfactory performances.

Copyright © 2010 by ASME



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