Distributed Active Disturbance Rejection Control for Linear Multi-Agent Systems Over Directed Graph

In this paper, the consensus problem of multiagent systems (MAS) with unknown disturbances has been addressed, by a novel feedforward control protocol. A distributed observer-based protocol, which extendes active disturbance rejection control(ADRC) to MAS under directed graph, has been proposed. Firstly, the local states and disturbances are estimated simultaneously by extended state observers. Secondly, states and disturbances based on observers have been applied to control protocol, which avoids chatting phenomenon and lagged effects caused by existing discontinuous control protocals, and the assumption about disturbances is relaxed. Thirdly, the case that the derivative of disturbance is bounded is discussed. Finally, simulations validate the correctness and effectiveness of the proposed control protocal.