基于观测器的多智能体系统自适应跟踪控制

Adaptive Tracking Control for Multi-agent System Based on Observer

基于带有非线性动态的二阶多智能体系统,研究在有参考领导者条件下的跟踪一致性问题。假设跟随者之间的网络拓扑为有向图。针对跟随者不能得到自己的速度信息,为每个跟随者设计分布式观测器来估计自己的速度,在网络拓扑为有向图且在切换拓扑图的情况下给出基于观测器的自适应控制协议。利用Lyapunov稳定性理论和矩阵理论分析,得到使系统实现一致性的充分条件。仿真结果表明,在局部观测器和控制协议及自适应控制下,跟随者可以跟踪到领导者。

The tracking consensus problem in the case of reference leader based on second-order multi-agent system with nonlinear dynamics is studied. It is assumed that network topology between the followers is a directed graph. As followers cannot access their velocity information,a distributed observer is designed for each follower to estimate their velocity. For the system under switching network topology which is directed graphs,an adaptive control protocol based on observer is proposed. Using Lyapunov stability theory and matrix theory analysis,the sufficient condition which guarantees the system to reach a leader-follower tracking is obtained. Simulation results showthat the follower can track the leader in the case of local observer,control protocol and adaptive control.