Distributed adaptive disturbance rejection control for general linear multi-agent systems

In this paper, the distributed disturbance rejection problem is investigated for general linear multi-agent systems. First, a distributed extended state observer is proposed, where both the local states and the external disturbance is estimated by using the absolute output information from local agent. Then distributed adaptive protocol is proposed for each agent by using the relative estimated states and disturbance estimation. It’s shown that the consensus error converges to zero eventually with the complete disturbance rejection. Finally, a simulation example is given to illustrate the effectiveness of the proposed protocol.