Consensus Disturbance Rejection With Disturbance Observers

Abstract

This paper deals with consensus disturbance rejection of network-connected dynamic systems using disturbance observers. The control objective of consensus disturbance rejection is to achieve a common state trajectory for the networkconnected subsystems that are under deterministic disturbances. The difference from the existing disturbance rejection methods is that only the relative state information is used for disturbance rejection, and as a consequence of using the relative state information, only the part of the disturbances that affect the common trajectories will be rejected. The conditions for designing disturbance observers for consensus control are identified for networked-connect multi-agent systems. Certain features of the individual subsystems are analysed for possible implementation of disturbance-observer based rejection, and the disturbance observers are designed based on the relative state information obtained from the neighbouring subsystems under different network connections. When the network connectivity is available for the disturbance observer design, consensus disturbance rejection is achieved for a directed network with a spanning tree. A fully distributed consensus disturbance rejection design is presented for an undirected network with the use of adaptive parameters for the estimation of the unknown network connectivity. Disturbance observers are also proposed for disturbance rejection in the leader-follower consensus control.

Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

“…In this sense, the formation control protocols proposed in this paper are not fully distributed. The results in this paper can be extended to the fully distributed cases by following the procedures shown in [29,[41][42][43].…”

“…Assumption 1 is commonly used in output rejection and disturbance rejection design [29,35]. System (2) can represents unknown constant disturbances, or sinusoidal functions with unknown amplitudes and phases, or some other functions which can be approximated by sinusoidal functions with a bias.…”

“…For systems with bounded external disturbances, H ∞ control method is reliable and has been extensively investigated in literature [26][27][28]. For some periodic disturbances which have inherent characteristics such as harmonics and unknown constant load, disturbance observer can be designed based on the state/output information and then the disturbance estimate can be used in the design of control input to cancel the disturbances directly [29]. Typical results for disturbance observer design may be found in the references [29][30][31][32][33][34].…”

“…For some periodic disturbances which have inherent characteristics such as harmonics and unknown constant load, disturbance observer can be designed based on the state/output information and then the disturbance estimate can be used in the design of control input to cancel the disturbances directly [29]. Typical results for disturbance observer design may be found in the references [29][30][31][32][33][34]. Output regulation design is also an efficient way to deal with deterministic disturbances.…”

Advances in Disturbance/Uncertainty Estimation and Attenuation [Guest editors' introduction]

“…The work [7], authored by Ding, deal with consensus disturbance rejection of network-connected dynamic systems using disturbance observers with the application in swarm of unmanned aircraft systems. It extends the existing disturbance observer based control to a group of multiple dynamic systems.…”