A robust distributed output tracking controller was proposed for a class of linear multi-Agent system subject to external disturbances. This controller was applied to the case where the communication topology among the Agents was direct and possibly time-varying (i.e. switching). This controller is composed of two parts: the first part could ensure the tracking error uniformly exponentially converges to zero in the ideal case (without external disturbances), while the other part was used to compensate for the effect of the present disturbances. It is shown that the effect of constant disturbances can be completely attenuated by the proposed controller, that is, the tracking error converges asymptotically to zero even in the presence of constant disturbances; while for other type of disturbances with bounded derivatives, the ultimate bound of tracking error can be made arbitrarily small by choosing appropriate design parameters. Finally, the two-fold theoretical results were verified by a simulation example.
收稿日期: 2013-12-03
出版日期: 2014-07-02
通讯作者:
孙玮
E-mail: sunw@swufe.edu.cn
作者简介: 孙玮(1983-),女,重庆人,工程师,硕士,主要研究方向:网络信息系统
引用本文:
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2014, Vol. 34 
