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Mathematical Problems in Engineering
Volume 2014, Article ID 213862, 7 pages
Research Article

Consensus Tracking of Multiagent Systems with Time-Varying Reference State and Exogenous Disturbances

School of Information and Electrical Engineering, Ludong University, Yantai 264025, China

Received 18 December 2013; Accepted 11 March 2014; Published 10 April 2014

Academic Editor: Ge Guo

Copyright © 2014 Hong-yong Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The tracking control of multiagent dynamical systems with exogenous disturbances is studied. A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed parameters.