基于输出调节的异构多自主体系统编队控制

The Distributed Formation Control of Heterogeneous Multi-agent Systems visa Output Regulation

将leader假设为外部系统,研究了基于输出调节的异构高阶多自主体系统的分布式编队控制。假设follower自主体不能得到leader自主体的信息,设计了分布式观测器和动态状态反馈控制器;为了实现编队控制,构造了新的误差函数。理论分析表明:在多自主体网络拓扑满足一定条件时,follower自主体在所设计的控制器的作用下可以实现编队,并且跟踪leader的轨迹。仿真结果证明了所设计的控制器有效。

Assuming leader to be external system, the problem of distributed formation control of heterogeneous high-order multi-agent systems visa output regulation is investigated in this paper. Assuming that followers can＇ t receive the information of leader, the distributed observers and dynamic state feedback controllers are designed. A new error function is constructed to realize the distributed formation. The theory analysis illustrates that when the topology satisfies some conditions, the multi-agent system with the design controller can achieve formation and track the leader. Finally, the simulation results prove the ef- fectiveness of the designed controller.