摘要
本文研究了具有非线性耦合与外部干扰的移动多智能体系统的一致性问题.假设系统不存在外部干扰的情况,设计了一个牵引控制使得移动智能体系统达到一个期望值.假设系统存在一个外部干扰,应用干扰–观测器控制,使得系统中的所有智能体可以渐近达到一致.通过分析具有固定拓扑和时变拓扑的移动多智能体动态系统,得到了许多基于抗干扰观测器的系统收敛性条件.最后应用仿真实例说明了结论的有效性.
Consensus problem of mobile multiple agents with nonlinear coupled function and exogenous disturbancesis studied. A pinning control, which has poor disturbance compensation ability, is presented to bring the consensus ofmulti-agent to an expectation value without disturbances. By applying the disturbance-observer-based control（DOBC）,all the agents in the network can asymptotically reach consensus when disturbances are generated by a linear exogenoussystem. By analyzing the mobile multi-agent systems with fixed and switching topologies, the convergence conditionsare obtained for multi-agent dynamical systems with exogenous disturbances from the disturbance-observer-based control.Finally, numerical examples support the analytical results.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2010年第12期1787-1792,共6页
Control Theory & Applications
基金
Supported by the National Natural Science Foundation of China(60875039, 60774016)
the Science Foundation of Education Office of Shandong Province of China(J08LJ01).
关键词
非线性耦合
多智能体系统
一致
牵引控制
干扰–观测器控制
nonlinear coupled
multi-agent systems
consensus
pinning control
disturbance-observer-based control
