Distributed PI Control for Multi-agent Consensus Tracking of Heterogeneous Networks with Heterogeneous Uncertainties

  • Yuting FengEmail author
  • Zhisheng Duan
  • Guanrong Chen
Conference paper
Part of the Studies in Computational Intelligence book series (SCI, volume 812)


This paper considers the multi-agent consensus tracking problem of heterogeneous networks with parameter uncertainties, unmodeled dynamics, bounded external disturbances and Lipschitz-type disturbances. By linearly parameterizing the control input of the leader and the unknown dynamics of all followers, two distributed proportional-integral (PI) protocols with dynamic and static coupling gains respectively are proposed to ensure tracking consensus. A simulation example is provided to verify the theoretical results.


Heterogeneous networks Distributed PI control Robustness 



This work was supported by the National Key R&D Program of China under grant 2017YFB1301001 and National Natural Science Foundation of China under Grant U1713223, 11332001, 61673026, and the Hong Kong Research Grants Council under the GRF Grant CityU11200317.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Mechanics and Engineering Science, College of EngineeringPeking UniversityBeijingChina
  2. 2.Department of Electronic EngineeringCity University of Hong KongHong Kong SARChina

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