异构多智能体的数据驱动输出一致性跟踪控制  

Data Driven Output Consistency Tracking Control for Heterogeneous Multi-agents

作　　者：马梓元 朱万博 梁文鑫 龚华军[1] 王新华[1] MA Ziyuan;ZHU Wanbo;LIANG Wenxin;GONG Huajun;WANG Xinhua(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710076,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]航空工业西安飞行自动控制研究所,西安710076

出　　处：《宇航学报》2024年第10期1666-1675,共10页Journal of Astronautics

基　　金：上海航天科技创新基金(SAST2023-012)。

摘　　要：针对一类异构多智能体编队一致性跟踪控制问题,考虑到实际系统中控制输入和输出均基于离散采样数据,且部分状态信息无法通过传感器获取,提出一种数据驱动的异构多智能体一致性输出跟踪控制方案。该方案利用数字采样控制方法和离散时间输入-输出采样数据,设计了包含无人机和无人车的异构多智能体一致性跟踪控制策略。通过状态观测器,利用降维输出信息实现了对全维状态信息的一致性跟踪控制。采用基于收缩映射原理的稳定性分析,验证了所提出的一致性跟踪控制方案对于每个闭环信号的有界性。同时,通过数值仿真验证了理论分析结果以及无人机和无人车的一致性跟踪控制性能。For a class of heterogeneous multi-agent formation consensus tracking control problems,considering that both control inputs and outputs in practical systems are based on discrete sampled data,and some state information cannot be obtained through sensors,a data-driven heterogeneous multi-agent consensus output tracking control scheme is proposed.This scheme utilizes digital sampled control methods and discrete-time input-output sampled data to design a consensus tracking control strategy for heterogeneous multi-agent systems consisting of drones and unmanned vehicles.Through a state observer,consistency tracking control of the full-dimensional state information is achieved using reducedoutput information.Stability analysis based on the contraction mapping principle is employed to verify the boundedness of each closed-loop signal for the proposed consensus tracking control scheme.Furthermore,theoretical analysis results and the consensus tracking control performance of drones and unmanned vehicles are validated through numerical simulations.

关 键 词：无人机 多智能体 编队控制 一致性跟踪控制 数据驱动 

分 类 号：V221.3[航空宇航科学与技术—飞行器设计] TB553[理学—物理]