Distributed PI Control for Consensus of Heterogeneous Multiagent Systems Over Directed Graphs
针对异构线性多智能体系统在有向通信图上的共识问题，提出一种分布式比例积分（PI）协议，并给出控制参数选择的充分条件，能保证存在有界扰动时共识误差的一致最终有界。
This paper considers the consensus control problem of heterogeneous linear multiagent systems. A distributed proportional-integral (PI) protocol is presented to ensure consensus of heterogeneous linear multiagent systems with directed communication graphs. Sufficient conditions for the choice of control parameters are derived. For the case that the agents are subject to the external time-varying but bounded disturbances, the proposed distributed PI protocol can assure uniformly ultimate boundedness of the consensus error. The effectiveness of the results is illustrated both theoretically and numerically.