基于观测器的多智能体系统的有限时间包含控制  

Finite-time Containment Control for Multi-agent Systems Based on Observer

作　　者：张静怡 苗国英[1,2] 纪龙 Zhang Jingyi;Miao Guoying;Ji Long(School of Automation,Nanjing University of Information Science&Technology,Nanjing 210044,China;Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology,Nanjing University of Information Science&Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]南京信息工程大学江苏大气环境与装备技术协同创新中心,南京210044

出　　处：《计算机测量与控制》2021年第2期92-97,共6页Computer Measurement &Control

基　　金：国家自然科学基金(61973169,61973170);国家重点研发计划资助(2018YFC1405703)。

摘　　要：在固定有向拓扑结构下,研究了具有多个静态或动态领导者的多智能体有限时间包含控制问题;假设领导者之间不存在信息的交互,提出基于快速终端滑模的控制算法,该算法驱使跟随者的运动轨迹在有限时间收敛到由领导者组成的凸包中;进一步,考虑实际应用中跟随者状态不能在线获得的情况,提出基于有限时间观测器的包含控制协议;利用图论和Lyapunov有限时间稳定性理论,给出了有限时间包含控制的充分条件;最后通过仿真示例,验证了算法的有效性。Under the fixed directed topology,this paper studies the finite-time containment control problems of multi-agent systems with multiple static or dynamic leaders.Assuming that there is no information interaction between leaders,a control algorithm based on fast terminal sliding mode is proposed,which drives the followers'motion trajectories to converge to the convex hull composed of leaders in finite time.Moreover,considering the fact that leader’s velocity can't be obtained online in practiced applications,observer based finite-time containment algorithms are given.By using graph theory and Lyapunov stability theory,sufficient conditions of finite-time containment control are derived.Finally,simulation examples are given to illustrate effectiveness of the proposed algorithms.

关 键 词：多智能体系统 有限时间控制 滑模控制 观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]