Consensus of mobile multiple agent systems withdisturbance-observer-based control

Consensus problem of mobile multiple agents with nonlinear coupled function and exogenous disturbancesis studied. A pinning control, which has poor disturbance compensation ability, is presented to bring the consensus ofmulti-agent to an expectation value without disturbances. By applying the disturbance-observer-based control(DOBC),all the agents in the network can asymptotically reach consensus when disturbances are generated by a linear exogenoussystem. By analyzing the mobile multi-agent systems with fixed and switching topologies, the convergence conditionsare obtained for multi-agent dynamical systems with exogenous disturbances from the disturbance-observer-based control.Finally, numerical examples support the analytical results.