Extended observer-based consensus tracking control for MASs with external disturbance and dynamic event-triggered strategy  

作　　者：Jian LIAO Kai MAO Bin XIN Jing HE Yaoqing ZHANG Jun CHENG Delin LUO Shaolei ZHOU 

机构地区：[1]College of Physics and Electronic Information,Gannan Normal University,Ganzhou,341000,China [2]Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen,518055,China [3]College of Basic Science,Naval Aviation University,Yantai,264001,China [4]School of Automation,Beijing Institute of Technology,Beijing,100081,China [5]School of Aerospace Engineering,Xiamen University,Xiamen,361102,China

出　　处：《Science China(Technological Sciences)》2025年第3期228-238,共11页中国科学(技术科学英文版)

基　　金：supported by Guangdong Major Project of Basic and Applied Basic Research(Grant No.2023B0303000016);the National Natural Science Foundation of China(Grant No.U21A20487);Shenzhen Technology Project(Grant Nos.JCYJ20220818101206014,JCYJ20220818101211025);the CAS Key Technology Talent Program,the National Outstanding Youth Talents Support Program(Grant No.61822304);Shanghai Municipal Science and Technology Major Project(Grant No.2021SHZDZX0100);Shanghai Municipal Commission of Science and Technology Project(Grant No.19511132101);the Projects of Major International(Regional)Joint Research Program of NSFC(Grant No.61720106011);the National Natural Science Foundation of China(Grant No.62372440)。

摘　　要：This article explores the leader-following consensus tracking(LFCK)control issues of multi-agent systems(MASs)in the presence of external disturbances and general directed fixed communication topology.Its purpose is to enable all follower agents to achieve consensus tracking for the leader agent.Firstly,this article introduces an extended state observer for estimating each follower agent's unknown state and external disturbance.Subsequently,on the basis of the above-extended state observer and a dynamic event-triggered strategy,a distributed consensus tracking control protocol with disturbances restraint is developed,which can reduce the MAS's update frequency on the premise of ensuring the control protocol's effectiveness.Furthermore,the MAS's stability and the absence of Zeno behavior are analyzed and proved by the established Lyapunov functional and linear matrix inequality theory.Finally,the validity and feasibility of the proposed approach are validated through a group of comparative numerical simulation experiments.

关 键 词：leader-following consensus tracking(LFCK) dynamic event-triggered strategy external disturbances state observer multi-agent systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]