The distributed consensus control problem for nonlinear multi-agent systems (MASs) with external disturbances under switching directed topologies is investigated. Distributed sliding-mode observers are designed considering both nonlinear dynamics and disturbances in MASs. Utilizing estimated states information via sliding-mode observers, a control protocol is constructed and analyzed to ensure the MASs reach consensus, and additionally guarantee the desired disturbance rejection criterion. Furthermore, the simulation experiment is carried out by taking multiple simple-pendulum network systems. By comparing this work with the related existing results, our designed observers are superior in estimating states information simultaneously considering both nonlinear dynamics and external disturbances, and the experiment result analysis shows validity of distributed consensus algorithm based on sliding-mode observers for MASs.

研究了切换定向拓扑下具有外部干扰的非线性多主体系统的分布式共识控制问题。设计分布式滑模观测器时要考虑到MAS中的非线性动力学和扰动。利用通过滑模观测器的估计状态信息，构建并分析控制协议，以确保MAS达到共识，并另外保证所需的干扰抑制标准。此外，通过采用多个简单摆网络系统进行了仿真实验。通过将这项工作与相关的现有结果进行比较，我们设计的观测器在同时考虑非线性动力学和外部扰动的情况下，在估计状态信息方面具有优势，