| 引用本文: | 魏文军,马羊琴,李宗刚.有限时间内异构多智能体系统的协同输出调节[J].控制理论与应用,2019,36(6):885~892.[点击复制] |
| WEI Wen-jun,MA Yang-qin,LI Zong-gang.Cooperative output regulation of heterogeneous multi-agent system[J].Control Theory and Technology,2019,36(6):885~892.[点击复制] |
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| 有限时间内异构多智能体系统的协同输出调节 |
| Cooperative output regulation of heterogeneous multi-agent system |
| 摘要点击 2836 全文点击 1213 投稿时间：2018-03-31 修订日期：2018-08-14 |
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| DOI编号 10.7641/CTA.2018.80225 |
| 2019,36(6):885-892 |
| 中文关键词 异构多智能体系统 分布式有限时间观测器 协同输出调节 快速收敛 |
| 英文关键词 heterogeneous multi-agent systems distributed finite time state observer cooperative output regulation convergence speed |
| 基金项目 国家自然科学基金(61663020); 国家重点研发计划资助(2017YFB1201003-020). |
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| 中文摘要 |
| 为了实现异构多智能体系统在有限时间内完成协同输出调节,本文提出了分布式有限时间状态观测器控制算法和相应的输出反馈控制策略.应用图论、Lyapunov稳定性理论证明了所设计的观测器能够在有限时间内估计出外部系统状态,还证明了系统在有限时间内的稳定性,很好的解决了当部分跟随者无法获取外部命令时的有限时间输出调节问题.最后,通过Matlab数值仿真验证了该算法和协议的有效性,系统除了在有限时间内获得更快的收敛速度外,还具有良好的暂态性能. |
| 英文摘要 |
| This note proposes a distributed finite time state observer control algorithm and output feedback control strategy for achieve the heterogeneous multi-agent system to complete cooperative output regulation in a finite time. Based on the graph theory, Lyapunov stability theory, it is not only proves that the designed observer can estimate the state of the external system in a limited time, but also proves the stability of the system in finite time, and effectively solves the problem of the limited time output regulation when some followers are unable to obtain the external commands. Finally, the validity of the algorithm and protocol are verified by Matlab simulation experiments, besides obtaining faster convergence speed in finite time, while it also has good transient performance. |
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