离散异构线性多智能体系统的输出一致性  

Output Consensus Control of Discrete Heterogeneous Linear Multi-agent Systems

作　　者：景丽[1] JING Li(School of Mathematics and System Science,Shenyang Normal University,Shenyang,Liaoning 110034,China)

机构地区：[1]沈阳师范大学数学与系统科学学院,辽宁沈阳110034

出　　处：《计算技术与自动化》2022年第2期19-22,共4页Computing Technology and Automation

基　　金：辽宁省自然科学基金资助项目(2019ZD0482)。

摘　　要：研究了离散异构线性多智能体系统的输出一致性问题。考虑到实际系统中部分跟随智能体不能准确获知领航智能体的动态,所以采用观测器方法研究系统的输出一致性问题。首先为每个跟随智能体构造观测器,用以估计领航者的状态;其次设计分布式控制器,提出系统实现输出一致性所应满足的充分条件,并运用Lyapunov稳定性理论、矩阵论、图论知识加以证明;最后运用MATLAB软件的SIMULINK工具箱进行数值仿真,仿真结果显示文中方法与结论是有效的。The problems of output consensus control of discrete heterogeneous linear multi-agent systems are considered.Since for practical systems leaders’dynamics may not be got,the research on output consensus control uses observer method.Firstly,observers are designed for each follower among the multi-agent systems and through it the leader’s state can be estimated by followers.Then a distributed control protocol and a sufficient condition are proposed for the systems to achieve consensus of outputs.The results are proved by Lyapunov stability theory,matrix theory and graph theory.In the end of the paper a simulation finished by SIMULINK tools of MATLAB software are given,which shows that the presented method and result in this paper is effective.

关 键 词：多智能体系统 异构 输出一致性 观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]