Distributed active anti-disturbance output consensus algorithms for higher-order multi-agent systems with mismatched disturbances

Different from most of the existing literature on anti-disturbance control for multi-agent systems with only matched disturbances, in this paper, the output consensus control problem of homogeneous higher-order integrator-chain multi-agent systems with mismatched disturbances is investigated. Such a problem is solved by using a distributed active anti-disturbance cooperative control scheme, which combines sliding-mode control (SMC) and disturbance observer based control (DOBC) approaches together. First, a disturbance observer is constructed for each agent to estimate its mismatched/matched disturbances. Second, for each agent, by employing its own and neighbors' mismatched disturbances estimates, dynamic sliding-mode surfaces are designed for leaderless and leader-follower cases, respectively. Third, based on the designed surfaces, composite sliding-mode consensus protocols are proposed for both cases, which guarantee output consensus of the agents with mismatched disturbances. Simulation results on a cooperative attack control example of multi-missile systems illustrate the effectiveness of the proposed consensus algorithms.