Distributed consensus of linear MASs with an unknown leader via a predictive extended state observer considering input delay and disturbances

NEUROCOMPUTING

卷:315

Article

Jiang, Wei¹  Peng, Zhaoxia^2,3,4  Rahmani, Ahmed¹  Hu, Wei¹  Wen, Guoguang⁵ 

[1] Ecole Cent Lille, UMR CNRS 9189, CRIStAL, Villeneuve Dascq, France

[2] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China

[3] Beihang Univ, Beijing Engn Ctr Clean Energy & High Efficient Po, Beijing 100191, Peoples R China

[4] Beihang Univ, Lab Int Associe, Beijing, Peoples R China

[5] Beijing Jiaotong Univ, Dept Math, Beijing 100044, Peoples R China

关键词: Input delay;    Consensus control;    Multi-agent systems;    Extended state observer;    Linear matrix inequality;   

DOI  :  10.1016/j.neucom.2018.07.040

来源: Elsevier

【 摘 要 】

The problem of disturbance rejection/attenuation for constant-input delayed linear multi-agent systems (MASs) with the directed communication topology is tackled in this paper, where a classic model reduction technique is introduced to transform the delayed MAS into the delay-free one. First, when the leader has no control input, a novel adaptive predictive extended state observer (ESO) using only relative state information of neighboring agents is designed to achieve disturbance-rejected consensus tracking. The stabilization analysis is presented via the Lyapunov function and sufficient conditions are derived in terms of linear matrix inequalities. Then the result is extended to disturbance-attenuated case where the leader has bounded control input which is only known by a portion of followers. Finally, two numerical examples are presented to illustrate the effectiveness of proposed strategies. The main contribution focuses on the design of adaptive predictive ESO protocols with the fully distributed property. (c) 2018 Elsevier B.V. All rights reserved.

【 授权许可】

Free