Bounded Consensus of Linear Multi-Agent Systems with External Disturbances Through a Reduced-Order Adaptive Feedback Protocol

In this paper, we study the bounded consensus control problem of linear multi-agent systems with external disturbances. Provided that the external disturbances are bounded, bounded consensus means the consensus errors and other system parameters are also guaranteed to be bounded. A novel reduced-order adaptive output-feedback protocol is proposed for ensuring bounded consensus of the closed-loop system. Then a sufficient condition is established for the existence of the proposed protocol and an estimation of the domain to which the consensus errors and the adaptive gains finally converge is presented. Compared with the existing results, the proposed protocol provides a tractable characterization for both full- and reduced-order adaptive dynamic output-feedback protocols. Moreover, since designing the protocol gains does not require to know the communication graph, the proposed protocol can be designed and implemented in a fully distributed way. Finally, a numerical example clearly illustrates the effectiveness of the proposed protocol.