UDE-Based Robust Bipartite Consensus Control of Multi-agent Systems with External Disturbances

Abstract

This article studies the bipartite consensus control problem of multi-agent systems with external disturbances. A robust distributed control scheme is proposed to achieve bipartite consensus in which the convergence values of agents have the same modulus but different signs. To significantly attenuate the effect of external disturbances of multi-agent systems, an uncertainty and disturbance estimator (UDE) is designed to estimate the unknown disturbances based on the information of inverse system of the model. By constructing the Lyapunov function, the influence on the coupling of nearest- neighbor rule based controller and UDE compensation component on the system consensus stability is reduced. Finally, some simulations are designed to verify the effectiveness of the robust bipartite consensus control scheme.