This paper addresses the consensus disturbance rejection problem for multiple-input multiple-output linear multiagent systems (MASs) with directed fixed as well as switching communication topologies in the presence of deterministic disturbances. Based on the relative output information among neighboring agents, a controller, which incorporates the consensus error estimator, the state estimator with static coupling strength and the disturbance observer, is given such that consensus tracking could be achieved in the considered MASs under directed switching communication topologies provided that the control parameters are suitably chosen and the average dwell time is larger than a positive threshold, while the disturbances are fully rejected by the designed disturbance observer. Furthermore, by designing a state estimator with adaptive coupling law, a controller is given such that consensus disturbance rejection of MASs with directed fixed topology could be achieved in a fully distributed manner. The obtained theoretical results are finally validated by performing simulations on the unmanned aerial vehicles.

中文翻译：

---

具有定向交换通信拓扑的线性多主体系统的共识干扰抑制

本文针对具有确定性干扰的定向固定以及切换通信拓扑的多输入多输出线性多主体系统（MAS），解决共识干扰抑制问题。根据相邻代理之间的相对输出信息，给出了一个包含共识误差估计器，具有静态耦合强度的状态估计器和干扰观测器的控制器，从而可以在定向交换通信拓扑下，在考虑的MAS中实现共识跟踪提供的控制参数适当地选择，并且平均停留时间大于正的阈值，而扰动完全由所设计的扰动观测器拒绝。此外，通过设计具有自适应耦合定律的状态估计器，给出了一个控制器，使得可以以完全分布式的方式实现具有定向固定拓扑的MAS的共识干扰抑制。通过对无人机进行仿真，最终验证了所获得的理论结果。