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 journalArticlepeer-review


    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 languageEnglish
    Article number8291838
    Pages (from-to)1259-1269
    Number of pages11
    JournalIEEE Transactions on Cybernetics
    Issue number4
    Publication statusPublished - 1 Apr 2019


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


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