Further Results on Consensus of Second-Order Multi-Agent Systems With Exogenous Disturbance

Abstract

In this paper, the consensus problem of second-order multi-agent systems with exogenous disturbances is investigated. Firstly, by using the input-to-state stability of the systems, we show that the global exponential stability of the estimate error system will lead to the asymptotical consensus of the second-order multi-agent systems with exogenous disturbances. Secondly, by utilizing the dynamic gain technique, a disturbance observer is proposed to estimate the disturbance generated by nonlinear exosystem. Based on this disturbance observer, a consensus protocol is presented for the second-order multi-agent systems. Finally, two examples are provided to show the effectiveness of the proposed results.