Frequency domain cascade consensus and disturbance rejection control of multi-agent systems

Abstract

This work describes a cascade consensus control problem of multi-agent systems (MASs) under disturbances in frequency domain (FD). An internal model control–based scheme, a kind of FD scheme is utilized to address the network of agents. Each agent of the network consists of two loops control configuration. Inner-loop control is responsible for single-agent control and eliminates the effects of internal disturbances. Whereas the outer-loop controller works as multi-agent control and eliminates the effects of external disturbances. For both loops, robust quasi- $H_{\infty }$ controller is derived for disturbance rejection and resilient consensus of all agents. This scheme is novel in the sense that it can eliminate the impacts of disturbances on the MAS without the restriction of the number of nodes. An analytical scheme is utilized for the tuning of the designed controller to track the consensus performance of the network. Numerical examples are given to describe the validity of the proposed algorithm.