Tracking trajectory of heterogenous multi-agent systems with disturbance observer based control

In this paper, the multi-agent systems are composed of two class different agents, one parts are supposed to moving on the double integrator dynamics, the other parts are driven by the single integrator dynamics. By applying the disturbance observer based control (DOBC), sufficient consensus criteria of the heterogenous multi-agent systems with exogenous disturbances are presented for with fixed topologies and switching topologies. A pinning control strategy is designed for a part of agents of the systems, and this pinning control can bring the states of multi-agent systems to an expected consensus track. Finally, the consensus of multi-agent systems with exogenous disturbances is verified by an example of four multi-agent systems.