Smart leader-based distributed active anti-disturbance hybrid consensus control for multi-agent systems with self-triggered impulsive control scheme.

Multi-agent systems (MAS) face significant challenges in achieving consensus tracking under external disturbances, particularly in leader-follower architectures where adaptability and disturbance rejection are critical. Traditional approaches rely on static leaders, which lack adaptability and disturbance rejection capabilities. To address these limitations, this paper proposes a novel smart leader-follower hybrid control framework. First, a smart leader dynamically adjusts its control law using impulsive neighbor information triggered by a self-triggered function, reducing followers' error system eigenvalues for faster tracking and enhanced cohesion. Second, for each follower, we integrate static/dynamic self-triggered impulsive feedback with feedforward control via a linear extended state observer (LESO), enabling real-time disturbance compensation. This hybrid scheme improves efficiency, robustness, and scalability while lowering communication costs. This approach significantly reduces tracking errors, offers greater flexibility and efficiency, and demonstrates strong disturbance rejection via LESO's rapid error elimination, validated through simulations.