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In this paper, the consensus problem of second order multi-agent systems with disturbance is studied under heterogenous position and velocity topologies. The cases that the disturbances are generated from linear exosystems and nonlinear exosystems are considered, respectively. Linear disturbance observer and dynamic-gain-based nonlinear disturbance observer using only the velocity information of the...
This paper addresses consensus tracking problem for multi-agent linear systems subject to exogenous disturbances generated from heterogeneous exosystems. Firstly, by using the dynamic gain technique, a nonlinear disturbance observer is presented to estimate the disturbances generated from heterogeneous nonlinear exosystems. Secondly, with the help of this nonlinear disturbance observer, a distributed...
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