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：本文提出了一种针对由包含生成树的有向图描述的受扰双积分器系统的一致性控制器设计新方法。当系统受到匹配与非匹配扰动影响时，我们提出了新的鲁棒控制器以解决一致性与同步问题。针对这两个问题，我们给出了简洁的连续控制器，其积分作用能够有效处理扰动。基于李雅普诺夫直接法，对无扰网络系统进行了严格的稳定性分析。为评估所提方法的性能，给出了具有代表性的仿真研究。