Distributed PI Control for Multi-agent Consensus Tracking of Heterogeneous Networks with Heterogeneous Uncertainties

摘要

This paper considers the multi-agent consensus tracking problem of heterogeneous networks with parameter uncertainties, unmodeled dynamics, bounded external disturbances and Lipschitz-type disturbances. By linearly parameterizing the control input of the leader and the unknown dynamics of all followers, two distributed proportional-integral (PI) protocols with dynamic and static coupling gains respectively are proposed to ensure tracking consensus. A simulation example is provided to verify the theoretical results.