Predictor-Based Extended-State-Observer Design for Consensus of MASs with Delays and Disturbances

Chunyan Wang; Zongyu Zuo; Zhenqiang Qi; Zhengtao Ding

doi:10.1109/TCYB.2018.2799798

Predictor-Based Extended-State-Observer Design for Consensus of MASs with Delays and Disturbances

Chunyan Wang, Zongyu Zuo, Zhenqiang Qi, Zhengtao Ding

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we study output feedback leaderfollower consensus problem for multi-agent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-based
extended state observer (ESO) is designed for each follower with relative output information of the neighbouring agents. Then, leader-follower consensus protocols are proposed which can compensate the delays and disturbances efficiently. In particular, the proposed observer and controller do not contain
any integral term of the past control input and hence are easy to implement. Consensus analysis is put in the framework of Lyapunov-Krasovskii functionals and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Then, the results are extended to nonlinear multiagent systems with nonlinear disturbances. Finally, the validity of the proposed design is demonstrated through a numerical example of network-connected unmanned aerial vehicles (UAVs).

Original language	English
Article number	8291838
Pages (from-to)	1259-1269
Number of pages	11
Journal	IEEE Transactions on Cybernetics
Volume	49
Issue number	4
DOIs	https://doi.org/10.1109/TCYB.2018.2799798
Publication status	Published - 1 Apr 2019

Keywords

Consensus
Extended state observer (ESO)
Input delay and output delay
Multiagent systems
Nonlinear disturbances
Output feedback

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10.1109/TCYB.2018.2799798Licence: CC BY

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title = "Predictor-Based Extended-State-Observer Design for Consensus of MASs with Delays and Disturbances",

abstract = "In this paper, we study output feedback leaderfollower consensus problem for multi-agent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-basedextended state observer (ESO) is designed for each follower with relative output information of the neighbouring agents. Then, leader-follower consensus protocols are proposed which can compensate the delays and disturbances efficiently. In particular, the proposed observer and controller do not containany integral term of the past control input and hence are easy to implement. Consensus analysis is put in the framework of Lyapunov-Krasovskii functionals and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Then, the results are extended to nonlinear multiagent systems with nonlinear disturbances. Finally, the validity of the proposed design is demonstrated through a numerical example of network-connected unmanned aerial vehicles (UAVs).",

keywords = "Consensus, Extended state observer (ESO), Input delay and output delay, Multiagent systems, Nonlinear disturbances, Output feedback",

author = "Chunyan Wang and Zongyu Zuo and Zhenqiang Qi and Zhengtao Ding",

note = "Funding Information: Manuscript received July 19, 2017; revised October 30, 2017, January 5, 2018, and January 15, 2018; accepted January 16, 2018. Date of publication February 14, 2018; date of current version February 22, 2019. This work was supported in part by the Science and Technology Facilities Council through Newton Fund under Grant ST/N006852/1, in part by the Sino-British Joint Advanced Control System Technology Laboratory, and in part by the National Natural Science Foundation of China under Grant 61673034. This paper was recommended by Associate Editor J. Chen. (Corresponding author: Zhengtao Ding.) C. Wang and Z. Ding are with the School of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K., and also with the Sino-British Joint Advanced Control System Technology Laboratory, University of Manchester, Manchester M13 9PL, U.K. (e-mail: [email protected]; [email protected]). Publisher Copyright: {\textcopyright} 2019 IEEE.All Rights Reserved. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.",

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N1 - Funding Information: Manuscript received July 19, 2017; revised October 30, 2017, January 5, 2018, and January 15, 2018; accepted January 16, 2018. Date of publication February 14, 2018; date of current version February 22, 2019. This work was supported in part by the Science and Technology Facilities Council through Newton Fund under Grant ST/N006852/1, in part by the Sino-British Joint Advanced Control System Technology Laboratory, and in part by the National Natural Science Foundation of China under Grant 61673034. This paper was recommended by Associate Editor J. Chen. (Corresponding author: Zhengtao Ding.) C. Wang and Z. Ding are with the School of Electrical and Electronic Engineering, University of Manchester, Manchester M13 9PL, U.K., and also with the Sino-British Joint Advanced Control System Technology Laboratory, University of Manchester, Manchester M13 9PL, U.K. (e-mail: [email protected]; [email protected]). Publisher Copyright: © 2019 IEEE.All Rights Reserved. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.

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N2 - In this paper, we study output feedback leaderfollower consensus problem for multi-agent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-basedextended state observer (ESO) is designed for each follower with relative output information of the neighbouring agents. Then, leader-follower consensus protocols are proposed which can compensate the delays and disturbances efficiently. In particular, the proposed observer and controller do not containany integral term of the past control input and hence are easy to implement. Consensus analysis is put in the framework of Lyapunov-Krasovskii functionals and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Then, the results are extended to nonlinear multiagent systems with nonlinear disturbances. Finally, the validity of the proposed design is demonstrated through a numerical example of network-connected unmanned aerial vehicles (UAVs).

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Predictor-Based Extended-State-Observer Design for Consensus of MASs with Delays and Disturbances

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Keywords

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