速度不可测的领导-跟随MAS一致性跟踪控制

Consensus Tracking Control of Leader-Follower MAS Without Velocity Measurements

针对带有干扰且速度不可测的领导-跟随二阶MAS,研究了有限时间一致性跟踪控制问题。首先,针对速度不可测和干扰问题,分别设计了有限时间超螺旋观测器和滑模干扰观测器,对干扰进行了快速估计和补偿;其次,结合观测速度,设计了有限时间快速反正切跟踪微分器,快速估计了领导者的控制输入信息;然后,设计了基于积分滑模的有限时间跟踪控制器,有效地提高了系统的响应速度和跟踪精度,同时提高了系统的抗干扰性能和鲁棒性;最后,通过数值仿真证明了控制算法的有效性。

The problem of finite-time consensus tracking control is investigated for the second-order leader-follower Multi-Agent Systems(MAS)with disturbance and unmeasured velocity.Firstlyto solve the problem of unmeasured velocity and disturbancesa finite-time super-twisting observer and a sliding-mode disturbance observer are designed respectively to quickly estimate and compensate for the disturbance.A fastfinite-time arctangent tracking differentiator is introduced by using the observed velocity to quickly estimate the leader's input information.Secondlybased on Integral Sliding Mode(ISM)a finite-time tracking controller is designedwhich can effectively improve the response speed and tracking accuracy of the systemand enhance the anti-disturbance performance and robustness of the system.Finallyseveral numerical simulations are provided to demonstrate the effectiveness of the proposed methodology.