An EHGO-based Robust Control for Multi-agent Consensus With Unmeasured Velocity and Disturbances

This paper addresses the robust consensus control problem for the second-order multi-agent system in the presence of unknown lumped disturbances and without velocity measure-ments. A novel robust consensus controller is constructed by combining the improved extended high-gain observer (EHGO) and continuous sliding mode control (SMC) strategy. Specifically, for the unknown velocity and lumped disturbances, the EHGO component can estimate them simultaneously by adjusting a simple dynamic parameter. Then, in light of the singular per-turbation technique, the convergence of the closed-loop error system is demonstrated and robust consensus control is achieved. Finally, a numerical simulation experiment is given to verify the effectiveness of robust consensus control strategy,