采用干扰–观测器控制的移动智能体系统之一致性

杨洪勇; 张振兴; 张顺

引用本文:	杨洪勇,张振兴,张顺.采用干扰–观测器控制的移动智能体系统之一致性[J].控制理论与应用,2010,27(12):1787~1792.[点击复制]
	YANG Hong-yong,ZHANG Zhen-xing,ZHANG Shun.Consensus of mobile multiple agent systems with disturbance-observer-based control[J].Control Theory and Technology,2010,27(12):1787~1792.[点击复制]

采用干扰–观测器控制的移动智能体系统之一致性

Consensus of mobile multiple agent systems with disturbance-observer-based control

摘要点击 1668 全文点击 1223 投稿时间：2010-05-06 修订日期：2010-07-11

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DOI编号 10.7641/j.issn.1000-8152.2010.12.PCTA100513

2010,27(12):1787-1792

中文关键词非线性耦合多智能体系统一致牵引控制干扰–观测器控制

英文关键词 nonlinear coupled multi-agent systems consensus pinning control disturbance-observer-based control

基金项目 Supported by the National Natural Science Foundation of China(60875039, 60774016); the Science Foundation of Education Office of Shandong Province of China(J08LJ01).

作者	单位	E-mail
杨洪勇^*	鲁东大学信息科学与工程学院	hyyang@yeah.net
张振兴	东南大学自动化学院
张顺	鲁东大学信息科学与工程学院

中文摘要

本文研究了具有非线性耦合与外部干扰的移动多智能体系统的一致性问题. 假设系统不存在外部干扰的情况, 设计了一个牵引控制使得移动智能体系统达到一个期望值. 假设系统存在一个外部干扰, 应用干扰–观测器控制, 使得系统中的所有智能体可以渐近达到一致. 通过分析具有固定拓扑和时变拓扑的移动多智能体动态系统, 得到了许多基于抗干扰观测器的系统收敛性条件. 最后应用仿真实例说明了结论的有效性.

英文摘要

Consensus problem of mobile multiple agents with nonlinear coupled function and exogenous disturbances is studied. A pinning control, which has poor disturbance compensation ability, is presented to bring the consensus of multi-agent to an expectation value without disturbances. By applying the disturbance-observer-based control(DOBC), all the agents in the network can asymptotically reach consensus when disturbances are generated by a linear exogenous system. By analyzing the mobile multi-agent systems with fixed and switching topologies, the convergence conditions are obtained for multi-agent dynamical systems with exogenous disturbances from the disturbance-observer-based control. Finally, numerical examples support the analytical results.