In this paper, the problem of robust consensus for multi-agent systems affected by external disturbances is discussed. A novel consensus control is developed by using a feedback controller based on disturbance rejection and Smith predictor scheme. Specifically, the disturbance rejection performance of the uncertain multi-agent systems is improved according to the estimation of equivalent-input-disturbance and the effect of time delay in the control system is reduced via Smith predictor scheme by shifting the delay outside the feedback loop. Furthermore, by combining Lyapunov theory, matrix inequality techniques and properties of Kronecker product, a robust feedback controller for each agent is designed such that the desired consensus of the uncertain multi-agent systems affected by external disturbances can be ensured. Finally, to illustrate the validity of the designed control scheme, two numerical examples with simulation results are provided.

中文翻译：

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具有输入延迟和干扰的不确定多智能体系统的共识。

本文讨论了受外部干扰影响的多智能体系统的鲁棒一致性问题。通过使用基于干扰抑制和史密斯预测器方案的反馈控制器，开发了一种新颖的共识控制。具体来说，根据等效输入干扰的估计，可以提高不确定多智能体系统的干扰抑制性能，并且通过将延迟移到反馈回路之外，通过史密斯预测器方案，可以降低控制系统中的时间延迟影响。此外，通过结合Lyapunov理论，矩阵不等式技术和Kronecker产品的属性，设计了针对每个代理的鲁棒反馈控制器，从而可以确保受外部干扰影响的不确定多代理系统的期望共识。最后，