| 引用本文: | 刘远山,杨洪勇,刘凡,李玉玲,杨怡泽.事件触发下多智能体系统一致性的干扰主动控制[J].控制理论与应用,2020,37(5):969~977.[点击复制] |
| LIU Yuan-shan,YANG Hong-yong,LI Yu-ling,LIU Fan,YANG Yi-ze.Active disturbance rejection control for multi-agent systems based on distributed event-triggered strategy[J].Control Theory and Technology,2020,37(5):969~977.[点击复制] |
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| 事件触发下多智能体系统一致性的干扰主动控制 |
| Active disturbance rejection control for multi-agent systems based on distributed event-triggered strategy |
| 摘要点击 3248 全文点击 1028 投稿时间：2018-10-17 修订日期：2019-11-09 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2019.80796 |
| 2020,37(5):969-977 |
| 中文关键词 多智能体系统 外部扰动 干扰主动控制 分布式事件触发 领导跟随一致性 |
| 英文关键词 multi-agent systems external disturbances active disturbance rejection control distributed event-triggered strategy leader-following consensus |
| 基金项目 国家自然科学基金项目(61673200), 山东省自然科学基金重大基础研究项目(ZR2018ZC0438), 烟台市重点研发项目(2019XDHZ085)资助. |
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| 中文摘要 |
| 本文针对带有外部干扰影响的多智能体系统, 研究了基于事件触发机制下的多智能体系统Leader-Following
一致性的控制问题. 采用干扰观测器来估计系统中存在的干扰, 并设计了基于事件触发机制的干扰主动控制方
案. 运用现代控制理论和矩阵论等工具分析了多智能体协同运动算法得到了多智能体系统在分布式事件触发机制
下的一致性收敛条件, 并且分析了本文设计的分布式事件触发机制的时间间隔存在正的下界. 最后通过计算机仿
真, 验证了本文所提控制算法的有效性. |
| 英文摘要 |
| For the multi-agent systems with external disturbances, this paper studies the consensus control problems of
Leader-Following model. A distributed disturbances observer is proposed to estimate the disturbances in the systems, and
an active control scheme based on the disturbances observer is designed. The cooperative motion algorithm is analyzed
by using modern control theory and matrix theory. The consistency convergence condition of the multi-agent systems is
obtained by means of the distributed event-triggered strategy, and the lower bound of the event-triggered time interval is
given. Finally, the effectiveness of the proposed control algorithm is verified by computer simulation. |
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