离散异构多自主体系统时变输出编队跟踪控制

Time-varying Output Formation Tracking Control of Discrete-time Heterogeneous Multi-agent Systems

针对维数和参数都不同的离散异构多自主体系统,利用输出调节方法研究了系统的时变输出编队跟踪控制问题。假设多自主体系统由多个follower自主体和多个leader自主体组成,并且follower自主体不能得到leader自主体的状态信息,利用邻接信息针对每个follower自主体设计了分布式观测器。基于观测器的状态,利用状态反馈,设计了离散异构多自主体系统的分布式时变输出编队跟踪控制协议及算法,并且给出了协议有效的充分条件。数据仿真结果证明了在控制协议的作用下,follower自主体的输出形成所要求的时变编队,并且跟踪多个leader状态的凸组合。

Aiming at the discrete-time heterogeneous multi-agent systems with different dimensions and parameters,the time-varying output formation tracking control is studied by using the output regulation method.Assuming that the multi-agents system is consisted of multiple followers and multiple leaders,and the followers can’t obtain the leaders’states,the distributed observers are designed by using the neighboring relative information.Based on the states of the distributed observers,the time-varying output formation tracking protocols and algorithm are presented by using the states feedback,and the sufficient conditions that guarantee the protocols’effectiveness are also given.The simulation results show that,with the control protocols,the output of followers can form the time-varying formation,and track the convex combination of the leaders’states at the same time.