具有外部干扰的二阶多自主体系统的协同运动
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摘要
为解决多自主体系统在群集运动过程受到外部干扰影响的问题,本文研究了具有外部干扰的二阶多自主体系统的分布式协同控制.本文中的外部干扰包括匹配干扰和不匹配干扰,针对系统中的匹配干扰,设计了状态观测器和干扰观测器,对系统的未知状态和干扰进行估计,并且构造了基于干扰观测器的多自主体协同控制算法.对于系统中的不匹配干扰,设计了与匹配干扰不同的干扰观测器,构造了基于主动抗干扰观测器的协同控制算法.运用矩阵论和现代控制理论等方法,研究了基于干扰观测器的二阶多自主体系统的协同控制.应用计算机仿真分别验证在多自主体系统具有匹配干扰和不匹配干扰的情况下结论的有效性,仿真结果表明,本文所设计的多自主体协同控制算法可以使跟随者最终都收敛到领导者的状态,实现了具有匹配干扰和不匹配干扰的二阶多自主体系统的状态一致性.
In order to solve the problem of flocking for multi-agent systems with external disturbances,this paper studies the distributed cooperative control of second-order multi-agent systems with external disturbances.Both matched and unmatched disturbances are considered.For the matched disturbances in the systems,state observers and disturbance observers are designed to estimate the unknown states and disturbances of the systems.Based on the disturbance observers,a multi-agent cooperative control algorithm is constructed.For the unmatched disturbances in the systems,disturbance observers which are different from that of the matched disturbances are designed.Based on the active anti-disturbance observers,a multi-agent cooperative control algorithm is constructed.By applying matrix theory and modern control theory,the cooperative control of second-order multi-agent systems based on the disturbance observers are studied.Computer simulations are used to verify the validity of the proposed method in the multi-agent systems with matched disturbances and unmatched disturbances.The simulation results show that the multi-agent cooperative control algorithm designed in this paper can make the states of followers converge to the states of leaders,and the state consistency of the second-order multi-agent systems with matched disturbances and unmatched disturbances is achieved.
In order to solve the problem of flocking for multi-agent systems with external disturbances,this paper studies the distributed cooperative control of second-order multi-agent systems with external disturbances.Both matched and unmatched disturbances are considered.For the matched disturbances in the systems,state observers and disturbance observers are designed to estimate the unknown states and disturbances of the systems.Based on the disturbance observers,a multi-agent cooperative control algorithm is constructed.For the unmatched disturbances in the systems,disturbance observers which are different from that of the matched disturbances are designed.Based on the active anti-disturbance observers,a multi-agent cooperative control algorithm is constructed.By applying matrix theory and modern control theory,the cooperative control of second-order multi-agent systems based on the disturbance observers are studied.Computer simulations are used to verify the validity of the proposed method in the multi-agent systems with matched disturbances and unmatched disturbances.The simulation results show that the multi-agent cooperative control algorithm designed in this paper can make the states of followers converge to the states of leaders,and the state consistency of the second-order multi-agent systems with matched disturbances and unmatched disturbances is achieved.
引文
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[16]OUYANG D Q,YU Z Y,JIANG H J,et al.Consensus for general multi-agent networks with external disturb ances.Neurocomputing,2016,198(C):100-108.
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[19]CAO W J,ZHANG J H,REN W.Leader-follower consensus of linear multi-agent sy stems with unknown external disturbances.Systems&Control Letters,2015,82(1):64-70.
[20]HU M F,GUO L X,HU A H,et al.Leader-following consensus of linear multi-agent systems with randomly occurring nonlinearities and uncertainties and stochastic disturbances.Neurocomputing,2015,149(1):884-890.
[21]WANG X H,XU D B,JI H B.Robust almost output consensus in networks of nonlinear agents with external disturbances.Automatic,2016,70(1):303-311.
[22]REN G J,YU Y G.Robust consensus of fractional multi-agent systems with external disturbances.Neurocomputing,2016,218(1):339-345.
[23]LIU Fan,LI Yuling,YANG Hongyong.Consensus for leaderfollower multi-agent systems with mismatched disturbance and correlated uncertainties.Information and Control,20 18,47(1):111-118,128.(刘凡,李玉玲,杨洪勇.基于多源干扰的Leader-follower多智能体系统的一致性.信息与控制,2018,47(1):111-118,128.)
[24]WANG X Y,LI S H,JAMES L.Distributed active anti-disturbance output consensus algorithms for higher-order multi-agent systems with mismatched disturbances.Automatica,2016,74(1):30-37.
[25]ZHANG J C,ZHU F L.Observer-based output consensus of a class of heterogeneous multi-agent systems with unmatched disturb ances.Communications in Nonlinear Science&Numerical Simulation,2017,56(1):240-251.
[26]OGATA K.Discrete-Time Control Systems.New Jersey:PrenticeHall,1995.
[27]KHALIL H.Nonlinear Systems.3rd Ed.New Jersey:Prentice-Hall,2002.
[2]YANG H Y,HAN F J,LIU F,et al.Distributed coordination of fractional dynamical systems with exogenous disturbances.Mathematical Problems in Engineering,20 14,(4):1-7.
[3]LU Y,WANG J Z.Robust cooperative control for multi-agent systems via distributed output regulation.Systems&Control Letters,2013,62(11):1049-1056.
[4]YANG H Y,ZHU X L,ZHANG S Y.Consensus of second order delayed multi-agent systems.Mathematical Problems in Engineering,2010,16(2):188-199.
[5]HONG Y G,HU J P,GAO L X.Tracking control for multi-agent consensus with an active leader and variable topology.Automatica,2007,42(7):1177-1182.
[6]LIU K E,JI Z J,XIE G M,et al.Consensus for heterogeneous multiagent systems under fixed and switching topologies.Journal of the Franklin Institute,20 1 5,352(9):3670-3683.
[7]QIU Z R,LIU S,XIE L H.Distributed constrained optimal consensus of multi-agent systems.Automatica,20 16,68(C):209-215.
[8]LI H Q,CHEN G,DONG Z Y,et al.Consensus analy sis of multiagent systems with second-order nonlinear dynamics and general directed topology:An event-triggered scheme.Information Sciences,2016,370-371(C):598-622.
[9]YOON M G.Consensus of adaptive multi-agent systems.Systems&Control Letters,20 17,102(1):9-14.
[10]WU Yiming,DING Jiajun,HE Xiongxiong,et al.Secure consensus control for multi-agent systems under communication delay.Control Theory&Applications,20 16,33(8):1039-1 045.(伍益明,丁佳骏,何熊熊,等.通信时延下多智能体系统的安全一致性控制.控制理论与应用,2016,33(8):1039-1045.)
[11]VALCHER M E,ZORZAN I.On the consensus of homogeneous multi-agent systems with arbitrarily switching topology.Automatica,2017,84(1):79-85.
[12]ZHU Y R,ZHENG Y S,GUAN Y Q.Quantized consensus of secondorder multi-agent systems via impulsive control.Neurocomputing,2017,270(1):27-33.
[13]LI H J,SU H Y.Second-order consensus in multi-agent systems with directed topologies and communication constraints.Ne urocompu ting,2016,173(P3):942-952.
[14]Al X D,SONG S J,YOU K Y.Second-order consensus of multiagent systems under limited interaction ranges.Automatica,2016,68(C):329-333.
[15]WANG C Y,SUN J Y,ZUO Z Y,et al.Consensus disturbance rejection of network-connected dynamic systems with input delay andunknown network connectivity.ScienceDirect.2017,51(1):10357-10362.
[16]OUYANG D Q,YU Z Y,JIANG H J,et al.Consensus for general multi-agent networks with external disturb ances.Neurocomputing,2016,198(C):100-108.
[17]ZHANG X X,LIU X Q.Consensus of second-order multi-agent systems with disturbances generated by nonlinear exosystems under switching topologies.Science Direct,2014,351(1):473-486.
[18]MA C,QIAO H.Distributed asynchronous event-triggered consensus of nonlinear multi-agent systems with disturbances:an extended dissipative approach.Neurocomputing,2017,243(1):103-114.
[19]CAO W J,ZHANG J H,REN W.Leader-follower consensus of linear multi-agent sy stems with unknown external disturbances.Systems&Control Letters,2015,82(1):64-70.
[20]HU M F,GUO L X,HU A H,et al.Leader-following consensus of linear multi-agent systems with randomly occurring nonlinearities and uncertainties and stochastic disturbances.Neurocomputing,2015,149(1):884-890.
[21]WANG X H,XU D B,JI H B.Robust almost output consensus in networks of nonlinear agents with external disturbances.Automatic,2016,70(1):303-311.
[22]REN G J,YU Y G.Robust consensus of fractional multi-agent systems with external disturbances.Neurocomputing,2016,218(1):339-345.
[23]LIU Fan,LI Yuling,YANG Hongyong.Consensus for leaderfollower multi-agent systems with mismatched disturbance and correlated uncertainties.Information and Control,20 18,47(1):111-118,128.(刘凡,李玉玲,杨洪勇.基于多源干扰的Leader-follower多智能体系统的一致性.信息与控制,2018,47(1):111-118,128.)
[24]WANG X Y,LI S H,JAMES L.Distributed active anti-disturbance output consensus algorithms for higher-order multi-agent systems with mismatched disturbances.Automatica,2016,74(1):30-37.
[25]ZHANG J C,ZHU F L.Observer-based output consensus of a class of heterogeneous multi-agent systems with unmatched disturb ances.Communications in Nonlinear Science&Numerical Simulation,2017,56(1):240-251.
[26]OGATA K.Discrete-Time Control Systems.New Jersey:PrenticeHall,1995.
[27]KHALIL H.Nonlinear Systems.3rd Ed.New Jersey:Prentice-Hall,2002.