Eur. Phys. J. Spec. Top. (2022) 231: 2401-2408
https://doi.org/10.1140/epjs/s11734-021-00381-w

Regular Article

Distributed adaptive discontinuous consensus tracking control for disturbed multi-agent systems based on input-observers

School of Mathematics and Physics, China University of Geosciences, 430074, Wuhan, People’s Republic of China

^b guowanliff@163.com

Received: 26 July 2021
Accepted: 7 December 2021
Published online: 5 January 2022

Abstract

Adaptive consensus tracking control for disturbed multi-agent systems (MASs) is investigated by discontinuous protocol in this paper. Firstly, to estimate the leader’s input, an adaptive input observer is constructed for each follower. Then, based on this input observer, an adaptive discontinuous protocol to guarantee the consensus is proposed only requiring the sign information about the state error between one agent and its neighbors. Sufficient consensus conditions for the considered MASs are obtained by the algebraic graph theory, differential inclusions and matrix theory. Finally, an example is shown to demonstrate the availability of the theoretical analysis.