Abstract In this paper, we formulate and investigate the leader-following almost output consensus problem for linear multi-agent systems with disturbance affected unstable zero dynamics. Conditions on the communication topology, agent dynamics and the way the disturbances affect the zero dynamics are established under which low-and-high gain based consensus protocols are designed. These protocols are shown to achieve leader-following almost output consensus, that is, output consensus of the system can be achieved to an arbitrary level of accuracy with the states remain bounded in the absence of the disturbances, and when the system is operating in output consensus within the desired accuracy, the L 2 -gain from the disturbances to the difference between each follower agent’s output with and without the disturbances from the same initial condition can be made arbitrarily small. A numerical example is shown to verify the theoretical results.

中文翻译：

---

具有扰动影响不稳定零动态的线性多智能体系统的领导者跟随几乎输出共识

摘要 在本文中，我们为具有扰动影响不稳定零动态的线性多智能体系统制定并研究了领导者跟随几乎输出一致性问题。建立了通信拓扑、代理动态和干扰影响零动态的方式的条件，在此基础上设计了基于低和高增益的共识协议。这些协议被证明可以实现领导者跟随几乎输出共识，即系统的输出共识可以达到任意精度水平，状态在没有干扰的情况下保持有界，并且当系统在输出中运行时在所需的准确性内达成共识，来自扰动的L 2 -增益与来自相同初始条件的每个跟随者代理在有和没有扰动的情况下的输出之间的差异可以任意小。给出了一个数值例子来验证理论结果。