Consensus Disturbance Rejection of MIMO Linear Multiagent Systems With Directed Switching Topologies: A Reduced Order Observer Approach

Abstract

In this brief, consensus disturbance rejection problem is investigated for multiple-input-multiple-output (MIMO) linear multi-agent systems (MASs) subject to non-vanishing disturbances under directed switching topologies. First, we design a reduced order unknown input observer (UIO) based only on the relative outputs to estimate the relative full states. Then a consensus controller together with a disturbance observer (DO) is designed to achieve the cooperative goal. Second, by using the average dwell time (ADT) method, it is proven that consensus can be achieved if the ADT is greater than a positive threshold, meanwhile the non-vanishing disturbances are attenuated by DO. Finally, theoretical result is verified by performing simulation.