有向图中基于扰动观测器的线性多智能体系统一致性

杨东岳; 梅杰

doi:10.16383/j.aas.2017.c160747

有向图中基于扰动观测器的线性多智能体系统一致性

doi: 10.16383/j.aas.2017.c160747

杨东岳^1,2,,
梅杰^1, ,

1.
哈尔滨工业大学(深圳)机电工程与自动化学院深圳 518055
2.
沈阳飞机设计研究所沈阳 110035

基金项目:

深圳市基础研究计划 JCYJ20160505175231531

国家自然科学基金 61403094

详细信息

作者简介:
杨东岳哈尔滨工业大学(深圳)机电工程与自动化学院硕士研究生.2015年获得哈尔滨工业大学自动化专业学士学位.主要研究方向为线性多智能体系统的协调控制.E-mail:yueame333@126.com

通讯作者:
梅杰哈尔滨工业大学(深圳)机电工程与自动化学院副教授.主要研究方向为多智能体系统分布式控制及其在编队飞行器中的应用.本文通信作者.E-mail:jmei@hit.edu.cn

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出版历程
- 收稿日期: 2016-11-01
- 录用日期: 2017-04-21
- 刊出日期: 2018-06-20

Disturbance Observer Based Consensus of Linear Multi-agent Systems Under a Directed Graph

YANG Dong-Yue^{1,2
,},
MEI Jie^{1
, ,}

1.
School of Mechanical Engineering and Automtion, Harbin Institute of Technology, Shenzhen 518055
2.
Shenyang Aircraft Design and Research Institute, Shenyang 110035

Funds:

the Foundation Research Project of Shenzhen JCYJ20160505175231531

National Natural Science Foundation of China 61403094

More Information

Author Bio:
Master student at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. He received his bachelor degree in automation from Harbin Institute of Technology in 2015. His main research interest is coordination of linear multiagent systems

Corresponding author: MEI Jie Associate professor at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. His research interest covers distributed control of multi-agent systems and its application in formation flying. Corresponding author of this paper

摘要

摘要: 在有向图中，针对多智能体系统中智能体动力学存在扰动的情形，研究了系统的一致性问题.每个智能体的动力学模型为存在未知外部扰动的一般线性系统.在有向图是强连通的条件下，通过设计一种基于扰动观测器的分布式算法，实现了存在未知扰动的线性多智能体系统的一致性.最后通过仿真验证所提算法的有效性.
- 多智能体系统 /
- 扰动观测器 /
- 一致性 /
- 有向图
Abstract: In this paper, we study the consensus problem of multi-agent systems in the existence of unknown disturbances under a general directed graph. The dynamics of each agent is a general linear system with matched disturbances. Given that the directed graph is strongly connected, we design a distributed disturbance observer to solve the consensus problem for general linear multi-agent systems with unknown external disturbances. At the end, simulation results are presented to demonstrate the effectiveness of the proposed algorithm.
- Multi-agent systems /
- disturbance observer /
- consensus /
- directed graph
注释:

1) 本文责任编委吕金虎

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图 1 扰动观测器结构

Fig. 1 The structure of disturbance observer

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图 2 UAV纵向控制时的速度状态轨线

Fig. 2 Speed of UAV longitudinal control

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图 3 UAV纵向控制时的攻角状态轨线

Fig. 3 Angle of attack of UAV longitudinal control

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图 4 UAV纵向控制时的俯仰率状态轨线

Fig. 4 Pitch rate of UAV longitudinal control

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图 5 UAV纵向控制时的俯仰角状态轨线

Fig. 5 Pitch of UAV longitudinal control

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图 6 无人机受到的不同扰动

Fig. 6 Different disturbances for UAVs

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参考文献(36)

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有向图中基于扰动观测器的线性多智能体系统一致性

doi: 10.16383/j.aas.2017.c160747

作者简介:
杨东岳哈尔滨工业大学(深圳)机电工程与自动化学院硕士研究生.2015年获得哈尔滨工业大学自动化专业学士学位.主要研究方向为线性多智能体系统的协调控制.E-mail:yueame333@126.com

通讯作者:
梅杰哈尔滨工业大学(深圳)机电工程与自动化学院副教授.主要研究方向为多智能体系统分布式控制及其在编队飞行器中的应用.本文通信作者.E-mail:jmei@hit.edu.cn

计量

Disturbance Observer Based Consensus of Linear Multi-agent Systems Under a Directed Graph

Author Bio:
Master student at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. He received his bachelor degree in automation from Harbin Institute of Technology in 2015. His main research interest is coordination of linear multiagent systems

Corresponding author: MEI Jie Associate professor at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. His research interest covers distributed control of multi-agent systems and its application in formation flying. Corresponding author of this paper

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留言板

有向图中基于扰动观测器的线性多智能体系统一致性

doi: 10.16383/j.aas.2017.c160747

作者简介: 杨东岳 哈尔滨工业大学(深圳)机电工程与自动化学院硕士研究生.2015年获得哈尔滨工业大学自动化专业学士学位.主要研究方向为线性多智能体系统的协调控制.E-mail:yueame333@126.com

通讯作者: 梅杰 哈尔滨工业大学(深圳)机电工程与自动化学院副教授.主要研究方向为多智能体系统分布式控制及其在编队飞行器中的应用.本文通信作者.E-mail:jmei@hit.edu.cn

计量

出版历程

Disturbance Observer Based Consensus of Linear Multi-agent Systems Under a Directed Graph

Author Bio: Master student at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. He received his bachelor degree in automation from Harbin Institute of Technology in 2015. His main research interest is coordination of linear multiagent systems

Corresponding author: MEI Jie Associate professor at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. His research interest covers distributed control of multi-agent systems and its application in formation flying. Corresponding author of this paper

计量

出版历程

目录

作者简介:
杨东岳哈尔滨工业大学(深圳)机电工程与自动化学院硕士研究生.2015年获得哈尔滨工业大学自动化专业学士学位.主要研究方向为线性多智能体系统的协调控制.E-mail:yueame333@126.com

通讯作者:
梅杰哈尔滨工业大学(深圳)机电工程与自动化学院副教授.主要研究方向为多智能体系统分布式控制及其在编队飞行器中的应用.本文通信作者.E-mail:jmei@hit.edu.cn

Author Bio:
Master student at the School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen. He received his bachelor degree in automation from Harbin Institute of Technology in 2015. His main research interest is coordination of linear multiagent systems