基于相对位置信息的多智能体系统自适应跟踪控制

Adaptive tracking control for multi-agent systems with relative position measurement

针对带有动态领导者的多智能体系统,为了使其达到跟踪一致性,设计只依赖于相对位置信息的自适应跟踪控制律.根据接收到的相对位置信息为每个跟随者设计动态输出反馈控制律,并根据控制律估计出智能体之间的相对速度信息.在此基础上设计自适应跟踪控制律,并且通过Lyapunov稳定性理论和矩阵理论分析得到使系统达到跟踪一致性的充分条件.最后通过数值仿真验证了所提出的设计方法的有效性.

For the consensus problem for multi-agent systems with an active leader, in order to tracking the leader, the adaptive tracking control law which only depends on the relative position measurement information is designed for each follower. According to the relative position measurement information for each of the follower, a dynamic output feedback control law is designed, and the dynamic output feedback control law is used to estimate the relative velocity information. On this basis, the adaptive tracking control law is proposed for each follower, and based on the theory of Lyapunov stability and matrix theory, the sufficient conditions which guarantee the system to reach a leader-follower tracking are obtained. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.