速度不可测的领导-跟随MAS一致性跟踪控制  

Consensus Tracking Control of Leader-Follower MAS Without Velocity Measurements

作　　者：任彦[1] 解东 岳美霞 苏楠 REN Yan;XIE Dong;YUE Meixia;SU Nan(Inner Mongolia University of Science and Technology,Baotou 014010,China)

机构地区：[1]内蒙古科技大学,内蒙古包头014010

出　　处：《电光与控制》2020年第12期36-40,100,共6页Electronics Optics & Control

基　　金：国家自然科学基金(62063027);内蒙古自然基金(2019MS06002);内蒙古自治区科技计划项目(2020GG0048)。

摘　　要：针对带有干扰且速度不可测的领导-跟随二阶MAS,研究了有限时间一致性跟踪控制问题。首先,针对速度不可测和干扰问题,分别设计了有限时间超螺旋观测器和滑模干扰观测器,对干扰进行了快速估计和补偿;其次,结合观测速度,设计了有限时间快速反正切跟踪微分器,快速估计了领导者的控制输入信息;然后,设计了基于积分滑模的有限时间跟踪控制器,有效地提高了系统的响应速度和跟踪精度,同时提高了系统的抗干扰性能和鲁棒性;最后,通过数值仿真证明了控制算法的有效性。The problem of finite-time consensus tracking control is investigated for the second-order leader-follower Multi-Agent Systems(MAS)with disturbance and unmeasured velocity.Firstlyto solve the problem of unmeasured velocity and disturbancesa finite-time super-twisting observer and a sliding-mode disturbance observer are designed respectively to quickly estimate and compensate for the disturbance.A fastfinite-time arctangent tracking differentiator is introduced by using the observed velocity to quickly estimate the leader's input information.Secondlybased on Integral Sliding Mode(ISM)a finite-time tracking controller is designedwhich can effectively improve the response speed and tracking accuracy of the systemand enhance the anti-disturbance performance and robustness of the system.Finallyseveral numerical simulations are provided to demonstrate the effectiveness of the proposed methodology.

关 键 词：MAS 有限时间收敛 干扰观测器 跟踪微分器 积分滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]