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

作　　者：刘远山 杨洪勇[1] 刘凡[1] 李玉玲 杨怡泽 LIU Yuan-shan;YANG Hong-yong;LIU Fan;LI Yu-ling;YANG Yi-ze(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》2020年第5期969-977,共9页Control Theory & Applications

基　　金：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.

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.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.

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 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]