This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances. In both problems, we present simple continuous controllers, whose integral actions allow us to handle the disturbances. A rigorous stability analysis based on Lyapunov's direct method for unperturbed networked systems is presented. To assess the performance of our result, a representative simulation study is presented.

翻译：本文提出了一种新的方法，用于设计受扰动双积分器系统的一致性控制器，这些系统的互联关系由包含有根生成树的有向图描述。我们提出了新的鲁棒控制器，以解决系统在匹配与非匹配扰动影响下的一致性与同步问题。针对这两个问题，我们给出了简单的连续控制器，其积分作用使得我们能够处理扰动。本文还基于未受扰动网络系统的李雅普诺夫直接法进行了严格的稳定性分析。为了评估我们的结果，给出了具有代表性的仿真研究。