The article introduces a method for designing consensus controllers for double integrator systems in multi-agent networks perturbed by matched and unmatched disturbances. It focuses on directed graphs with rooted spanning trees, proposing simple continuous controllers with integral actions to handle disturbances. Stability analysis is based on Lyapunov's direct method. The paper addresses the challenges posed by directed graphs compared to undirected ones, highlighting the importance of modeling information exchange realistically. Various robust consensus controllers are discussed, emphasizing the significance of a rooted spanning tree in achieving consensus. The article also delves into control strategies for unknown matched and unmatched disturbances, presenting solutions that avoid chattering effects on actuators. Simulations validate the proposed methods' performance.
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by Jose Guadalu... о arxiv.org 03-26-2024
https://arxiv.org/pdf/2310.00262.pdfГлибші Запити