Leader-follower consensus of linear multi-agent systems with unknown external disturbances

This paper addresses the leader-follower consensus tracking problem for multi-agent systems with identical general linear dynamics and unknown external disturbances. First, a distributed extended state observer is proposed, where both the local states and disturbance of each agent are estimated simultaneously by using the relative output information between neighbors. Then a consensus algorithm is proposed for each agent based on the relative estimated states between neighbors and its own disturbance estimate. It is shown that, with the proposed observer-based consensus algorithm, the leader-follower consensus problem can be solved. Finally, we present a simulation example to demonstrate the effectiveness of the proposed algorithm.