In this paper, the leader–follower consensus problem is investigated for multi-agent systems subject to external disturbances generated by heterogeneous nonlinear exosystems. First, the disturbance observers are developed for each follower to effectively estimate the nonlinear disturbances. Then, based on the presented observers, the distributed state and output feedback consensus protocols are proposed to guarantee that the consensus tracking errors converge to zero asymptotically, and meanwhile to reject the nonlinear disturbances. Particularly, the output feedback protocol can be designed and implemented without any global information about the whole network, which means it is fully distributed. Finally, two numerical examples are given to illustrate the effectiveness of the results.

中文翻译：

---

具有由异构非线性外系统产生的外部干扰的多智能体系统的领导者 - 跟随者共识

在本文中，针对受到异构非线性外系统产生的外部干扰的多智能体系统研究了领导者 - 追随者共识问题。首先，为每个跟随器开发了干扰观测器，以有效地估计非线性干扰。然后，基于所提出的观察者，提出了分布式状态和输出反馈共识协议，以保证共识跟踪误差渐近收敛到零，同时拒绝非线性干扰。特别是，输出反馈协议可以在没有任何关于整个网络的全局信息的情况下设计和实现，这意味着它是完全分布式的。最后给出了两个数值例子来说明结果的有效性。