Consensus disturbance rejection for Lipschitz nonlinear multi-agent systems with input delay: a DOBC approach

Research output: Research - peer-reviewArticle

  • Authors:
  • Chunyan Wang
  • Zongyu Zuo
  • Junyong Sun
  • Jun Yang
  • Zhengtao Ding (Lead)


In this paper, a new predictor-based consensus disturbance rejection method is proposed for high-order multi-agent systems with Lipschitz nonlinearity and input delay. First, a distributed disturbance observer for consensus control is developed for each agent to estimate the disturbance under the delay constraint. Based on the conventional predictor feedback approach, a non-ideal predictor based control scheme is constructed for each agent by utilizing the estimate of the disturbance and the prediction of the relative state information. Then, rigorous analysis is carried out to ensure that the extra terms associated with disturbances and nonlinear functions are properly considered. Sufficient conditions for the consensus of the multi-agent systems with disturbance rejection are derived based on the analysis in the framework of Lyapunov-Krasovskii functionals. A simulation example is included to demonstrate the performance of the proposed control scheme.

Bibliographical metadata

Original languageEnglish
Pages (from-to)298-315
Number of pages18
JournalJournal of the Franklin Institute
Issue number1
Early online date28 Sep 2016
StatePublished - Jan 2017