基于DOBC的多智能体系统一致性协议设计与分析  

Design and analysis of multi-agent system consensus protocol based on DOBC

作　　者：于淑莉 王芹[1] 裔扬[1] 沈庆成 YU Shuli;WANG Qin;YI Yang;SHEN Qingcheng(School of Information Engineering,Yangzhou University,Yangzhou 225127,China;Jiangsu Qingya Electronic Technology Co.LTD,Xuzhou 221000,China)

机构地区：[1]扬州大学信息工程学院,江苏扬州225127 [2]江苏庆亚电子科技有限公司,江苏徐州221000

出　　处：《扬州大学学报（自然科学版）》2023年第5期42-46,共5页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61973266);江苏省自然科学基金资助项目(BK20201451);国防科技重点实验室基金资助项目(JSY6142219202115);徐州市重点研发计划资助项目(KC21080)。

摘　　要：针对一类具有未知输入扰动的多智能体系统提出一种基于干扰观测器的多智能体一致性协议.首先,在各智能体中引入干扰观测器,抵消输入通道内扰动;其次,在扰动前馈补偿基础上构建基于无向图图论的一致性协议;最后,利用Lyapunov稳定性理论和线性矩阵不等式得出状态一致性误差系统与扰动跟踪系统的稳定性条件.通过仿真算例验证了该算法的可行性.A multi-agent consensus protocol based on disturbance observer is proposed for a class of multi-agent systems with unknown input disturbances.Firstly,disturbance observers are introduced into each agent to mitigate disturbances within the input channels.Then a consensus protocol rooted in graph theory is constructed on the basis of disturbance feedforward compensation.Finally,the stability conditions of state consistency error system and disturbance tracking system are obtained by using Lyapunov stability theory and linear matrix inequalities.Simulation examples verify the feasibility of this algorithm.

关 键 词：多智能体系统 干扰观测器 一致性协议 无向图 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]