基于拓扑切换的异构多智能体系统协同输出调节

Cooperative Output Regulation of Heterogeneous Multi-Agent System Based on Topology Switching

针对拓扑切换下的异构多智能体输出调节系统,考虑当系统中部分智能体无法获取到外部系统控制状态,且系统的拓扑图随时间变换的问题,设计了一种基于分布式输出反馈状态观测器的切换控制器,给出了拓扑切换下多智能体输出调节问题可解的充分条件,该条件与控制参数和通讯拓扑有关.基于图论和矩阵分析的方法,设计了李雅普诺夫函数,并证明了系统的镇定性.最后给出了系统的Matlab仿真实验,研究结果表明,在拓扑切换条件下多智能体的输出渐近跟踪并收敛到外部系统,所设计的控制器能解决动态切换下输出反馈输出调节问题.

In light of the heterogeneous multi-agent output regulation systems with topology switching,considering that some agents in the system can’t get the control state of the external system and topology of the system changes with time,a kind of switching controller based on the distributed output feedback state observer is designed.The sufficient conditions for solving the problem of multi-agent output regulation problem under topology switching is given,which is related to control parameters and communication topology.Based on the method of graph theory and matrix analysis,the Lyapunov function is designed,and the stability of the system is proved.Finally,the corresponding Matlab simulation experiment is given.The research results show that the output of multi-agent can still track and converge to external system under topology switching condition.