Distributed consensus of multi-agent systems with external disturbances

This paper addresses the distributed leaderless and leader-following consensus problems for multi-agent systems with general linear dynamics and unknown external disturbances. With the aid of extended state observer technique, both the local states and disturbance are estimated simultaneously, then the distributed consensus protocols are proposed based on information of relative estimated states of neighbor agents and the estimated disturbance. It has been shown that, with the proposed consensus protocols, all agents can reach consensus under undirected and connected communication graphs. Finally, simulation examples are included to demonstrate the effectiveness of the proposed protocols.