Adaptive consensus disturbance rejection for multi-agent systems on directed graphs

In this paper, the adaptive consensus disturbance rejection problem is considered for the liner multi-agent systems under directed graphs. Based on the relative state information of the neighboring agents, the consensus protocols, including a state observer and a disturbance observer, are designed to guarantee that the consensus error goes to zero with the complete disturbance rejection. Furthermore, the state observer is designed in a fully distributed fashion with adaptive coupling gain, which has the advantage that the consensus protocol design is independent of the Laplacian matrix associated with the communication network. Finally, an example is given to verify the effectiveness of the theoretical results.