带有不确定性多智能体系统的分散自适应协调控制(英文)

Distributed Adaptive Control for Multi-agent Consensus with Uncertainties

本文研究带有未知参数和外界干扰的多智能体系统的一致性问题.若网络拓扑是对称加权,提出基于邻接信息的分散自适应协调控制输入,当系统存在未知干扰时,保证各个智能体的状态跟踪领航者的状态.当系统中不存在外界干扰时,所提出的动态控制输入保证状态估计误差和参数修正误差最终收敛到某一紧集,该紧集可以通过选择设计参数达到任意小.

This paper is concerned with the leader-following consensus problem of a group of au- tonomous agents with unknown parameters and unmodeled bounded additive disturbances. Under the assumption that the topology graph has symmetric weights, distributed adaptive controllers are proposed to guarantee that each agent can follow the leader in the presence of bounded disturbances. For the dynamics without disturbances, the proposed dynamic controller ensures that the states of all agents track the leader＇s state, and the errors of parameters eventually converge to the compact set which can be made as small as desired by an appropriate choice of the design parameters.