具有外部干扰的二阶多自主体系统的协同运动  

Cooperative motion of second order multi-agent systems with external disturbances

作　　者：李玉玲 杨洪勇[1] 刘凡[1] 杨怡泽 刘远山 LI Yu-ling;YANG Hong-yong;LIU Fan;YANG Yi-ze;LIU Yuan-shan(School of Information and Electrical Engineering,Ludong University,Yantai Shandong 264025,China;School of Electrical Engineering and Telecommunications,The University of New South Wales,Sydney,Australia)

机构地区：[1]鲁东大学信息与电气工程学院,山东烟台264025 [2]新南威尔士大学电气工程与信息学院,悉尼

出　　处：《控制理论与应用》2019年第7期1113-1121,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61673200,61472172,61471185);山东省自然科学基金项目(ZR2017PF010,ZR2018ZC0438);烟台市重点研发项目(2016ZH061)资助~~

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.

关 键 词：多自主体系统 协同运动 匹配干扰 不匹配干扰 主动抗干扰控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]