| 引用本文: | 金治群,牛玉刚,邹媛媛.基于滑模观测器的多智能体一致性控制[J].控制理论与应用,2017,34(2):251~259.[点击复制] |
| JIN Zhi-qun,NIU Yu-Gang,ZOU Yuan-yuan.Consensus for multi-agent systems based on sliding-mode observer[J].Control Theory and Technology,2017,34(2):251~259.[点击复制] |
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| 基于滑模观测器的多智能体一致性控制 |
| Consensus for multi-agent systems based on sliding-mode observer |
| 摘要点击 4036 全文点击 2405 投稿时间：2016-01-18 修订日期：2016-12-06 |
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| DOI编号 10.7641/CTA.2017.60036 |
| 2017,34(2):251-259 |
| 中文关键词 多智能体系统 一致性 滑模观测器 终端滑模控制 |
| 英文关键词 multi-agent systems consensus sliding-mode observer terminal sliding-mode control |
| 基金项目 国家自然科学基金 |
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| 中文摘要 |
| 本文针对速度不可测下的多智能体系统提出一种基于滑模观测器的有限时间一致性控制算法.首先, 利用滑模观测器在有限时间内估计每个智能体的速度信息. 然后,利用估计信息设计非奇异终端滑模控制律,该控制律能够保证智能体系统在有限时间内达到一致性. 最后,通过数值仿真验证了该一致性控制算法的有效性. |
| 英文摘要 |
| In this paper, a finite time consensus algorithm based on velocity observer is proposed for multi-agent systems with unmeasured velocity. Firstly, the sliding mode observer is utilized to estimate the velocity of each agent. Then, the estimation information is utilized to design the nonsingular terminal sliding mode control law, which ensures the multi-agent system to achieve finite-time consensus. Finally, the effectiveness of the proposed algorithm is verified by numerical simulation. |
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