Output Consensus of Heterogeneous Multiagent Systems With Mismatched Uncertainties and Measurement Noises: An ADRC Approach

This article addresses the practical output consensus of a class of heterogeneous leader–follower multiagent systems with directed network topology. The total disturbance of each agent, which is the nonlinear coupling effect of disturbances, uncertainties, and measurement noises mismatched with control inputs in large scale, is estimated in real time by a set of extended state observers. Extended state observers-based consensus protocols are then designed to obtain the output consensus, with the total disturbance of each agent be rejected actively. Both the convergence of the tracking error between outputs of all followers and the output of the leader in practical sense and the boundedness of all states are presented with theoretical analysis. Finally, the rationality of the control strategy and main result are verified by a numerical example.