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Input load disturbance rejection controllers design for synchronised output regulation of complex multi-agent systems

An analytical input load disturbance rejection (ILDR) controller is presented for the synchronised output regulation (SOR) of complex multi-agent systems (MAS). The block diagram based on transfer functions can be used to describe both homogeneous and heterogeneous MAS in a unified framework. In this networked MAS the nodes are divided into two kinds: the leader nodes accessible to the regulated error and the following nodes only accessible to the relative output errors with respect to their neighbouring nodes. Because that the input load disturbance is taken into consideration, the proposed distributed controllers calculated by algebraic solution performs better disturbance rejection capability in terms of 2-norm than the other rotocols derived from the conventional criterions. The efficacy of the proposed algorithm is demonstrated by a simulation example.