基于观测器的多智能体网络leader-following编队控制

On the Distributed Formation Control of Observer-based Leader-following Multi-agent Network

主要研究了leader-following多智能体网络的分布式编队问题。假设多智能体网络中的每个follower不能实时得到leader的信息,针对每个follower设计相应的分布式观测器。考虑了无时延的切换拓扑多智能体网络和存在时变时延的固定网络两种情况。利用Lyapunov稳定定理,给出了系统稳定和控制协议有效的充分条件。最后,给出了数字仿真结果以验证所设计协议的有效性,即followers形成所要求的编队并且与leader达到速度一致。

This paper investigates the distributed formation control of leader-following multi-agent network. Supposing each follower can not get the real-time information of the virtual leader,the distributed observer is designed for each follower.The paper considers both the condition of switching topologies without time delay and fixed topologies with time-varying communication delay.By using the Lyapunov stability theory, the sufficient conditions of system’ s stability and the designed protocols’ effectiveness are given.Finally, the numerical simulation results are presented to illustrate the effectiveness of the designed protocols, namely,the followers form the designed formation and reach velocity consensus with the virtual leader.