考虑输入饱和的分布式空地异构多智能体编队控制

Distributed Formation Control for Heterogeneous Multiagent Systems with Input Saturation

针对由四旋翼无人机与无人车组成的空地异构多智能体编队系统中存在的未知外部干扰与输入饱和等问题,提出一种基于扩张状态观测器、指令滤波器与辅助系统的分布式空地异构多智能体编队控制方法。对四旋翼无人机与无人车的模型进行转换,构建空地异构多智能体系统模型。设计扩张状态观测器估计未知外部干扰,同时构建辅助系统以解决输入饱和问题。通过反步法与指令滤波器设计分布式空地异构多智能体编队控制器,并利用李雅普诺夫稳定性定理证明了闭环系统的有界稳定。仿真结果表明该研究控制方法的鲁棒性与有效性。

A distributed formation control method is designed based on the extend state observer,auxiliary system,and command filter for air-ground heterogeneous multiagent systems(HMASs)with unknown external disturbance and input saturation.Firstly,the model of the HMAS is constructed by converting the model of the quadrotor unmanned aerial vehicle and the unmanned ground vehicle.Then,an extended state observer is designed to estimate the unknown external disturbance.To solve the input saturation problem,auxiliary system is constructed.On this basis,the distributed air-ground formation controller is designed based on the backstepping technology and the command filter.Besides,the convergence of all closed-loop signals is rigorously proved by the Lyapunov theory.Finally,the effectiveness and feasibility of the distributed formation control method is verified by simulations.