基于干扰观测器的二阶多智能体系统模型参考一致性

Disturbance observers based model-reference consensus of second-order multi-agent systems

针对受到外部干扰影响的二阶多智能系统,提出一种新型干扰观测器的设计方案.在只有部分智能体能接收到参考模型信号的条件下,研究受到不同外系统生成干扰信号影响的二阶多智能体系统模型参考一致性问题.针对干扰信号由线性外系统和非线性外系统生成的情况,分别设计干扰观测器.进一步提出分布式控制协议,所提出的一致性协议可以有效地抑制干扰,最终实现多智能体系统的模型参考一致性.仿真算例验证了所提出方法的有效性.

For second-order multi-agent systems with exogenous disturbances, a new type of disturbance observers is presented. Under the condition that only a part of agents have access to the information of the reference model, the problems of model-reference consensus for second-order multi-agent systems with exogenous disturbances generated by different exogenous systems are studied. For the cases that the exogenous systems are linear and nonlinear, linear disturbance observers and nonlinear disturbance observers are designed, respectively. Furthermore, the distributed consensus protocol is presented,which can inhibit the disturbance effectively. As a result, the multi-agent systems can achieve consensus with any given reference model. Two examples are provided to illustrate the effectiveness of the proposed methods.