Disturbance Observer Based Consensus of Linear Multi-agent Systems Under a Directed Graph
-
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.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.
-
Key words:
- Multi-agent systems /
- disturbance observer /
- consensus /
- directed graph
1) 本文责任编委 吕金虎 -
[1] 闵海波, 刘源, 王仕成, 孙富春.多个体协调控制问题综述.自动化学报, 2012, 38(10):1557-1570 http://www.aas.net.cn/CN/abstract/abstract17765.shtmlMin Hai-Bo, Liu Yuan, Wang Shi-Cheng, Sun Fu-Chun. An overview on coordination control problem of multi-agent system. Acta Automatica Sinica, 2012, 38(10):1557-1570 http://www.aas.net.cn/CN/abstract/abstract17765.shtml [2] Olfati-Saber R, Fax J A, Murray R M. Consensus and cooperation in networked multi-agent systems. Proceedings of the IEEE, 2007, 95(1):215-233 doi: 10.1109/JPROC.2006.887293 [3] Ren W, Beard R W, Atkins E M. Information consensus in multivehicle cooperative control. IEEE Control Systems Magazine, 2007, 27(2):71-82 doi: 10.1109/MCS.2007.338264 [4] Oh K K, Park M C, Ahn H S. A survey of multi-agent formation control. Automatica, 2015, 53:424-440 doi: 10.1016/j.automatica.2014.10.022 [5] Fax J A, Murray R M. Information flow and cooperative control of vehicle formations. IEEE Transactions on Automatic Control, 2004, 49(9):1465-1476 doi: 10.1109/TAC.2004.834433 [6] Olfati-Saber R. Flocking for multi-agent dynamic systems:algorithms and theory. IEEE Transactions on Automatic Control, 2006, 51(3):401-420 doi: 10.1109/TAC.2005.864190 [7] Su H S, Wang X F, Lin Z L. Flocking of multi-agents with a virtual leader. IEEE Transactions on Automatic Control, 2009, 54(2):293-307 doi: 10.1109/TAC.2008.2010897 [8] Yu W W, Chen G R, Gao M, Kurths J. Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2010, 40(3):881-891 doi: 10.1109/TSMCB.2009.2031624 [9] Mei J, Ren W, Chen J. Distributed consensus of second-order multi-agent systems with heterogeneous unknown inertias and control gains under a directed graph. IEEE Transactions on Automatic Control, 2016, 61(8):2019-2034 doi: 10.1109/TAC.2015.2480336 [10] Wang C R, Wang X H, Ji H B. Leader-following consensus for an integrator-type nonlinear multi-agent systems using distributed adaptive protocol. In: Proceedings of the 10th IEEE International Conference on Control and Automation (ICCA). Hangzhou, China: IEEE, 2013. 1166-1171 http://ieeexplore.ieee.org/document/6564881/ [11] Yu W W, Chen G R, Cao M. Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems. Automatica, 2010, 46(6):1089-1095 doi: 10.1016/j.automatica.2010.03.006 [12] 梅杰, 张海博, 马广富.有向图中网络Euler-Lagrange系统的自适应协调跟踪.自动化学报, 2011, 37(5):596-603 http://www.aas.net.cn/CN/abstract/abstract17395.shtmlMei Jie, Zhang Hai-Bo, Ma Guang-Fu. Adaptive coordinated tracking for networked Euler-Lagrange systems under a directed graph. Acta Automatica Sinica, 2011, 37(5):596-603 http://www.aas.net.cn/CN/abstract/abstract17395.shtml [13] Tuna S E. Synchronizing linear systems via partial-state coupling. Automatica, 2008, 44(8):2179-2184 doi: 10.1016/j.automatica.2008.01.004 [14] Scardovi L, Sepulchre R. Synchronization in networks of identical linear systems. Automatica, 2009, 45(11):2557-2562 doi: 10.1016/j.automatica.2009.07.006 [15] Li Z K, Duan Z S, Chen G R, Huang L. Consensus of multiagent systems and synchronization of complex networks:a unified viewpoint. IEEE Transactions on Circuits and Systems I:Regular Papers, 2010, 57(1):213-224 doi: 10.1109/TCSI.2009.2023937 [16] Ma C Q, Zhang J F. Necessary and sufficient conditions for consensusability of linear multi-agent systems. IEEE Transactions on Automatic Control, 2010, 55(5):1263-1268 doi: 10.1109/TAC.2010.2042764 [17] Li Z, Duan Z, Chen G. Dynamic consensus of linear multi-agent systems. IET Control Theory & Applications, 2011, 5(1):19-28 https://www.researchgate.net/publication/224216882_Dynamic_consensus_of_linear_multi-agent_systems [18] Zhang H W, Lewis F L, Das A. Optimal design for synchronization of cooperative systems:state feedback, observer and output feedback. IEEE Transactions on Automatic Control, 2011, 56(8):1948-1952 doi: 10.1109/TAC.2011.2139510 [19] Mei J, Ren W, Chen J, Anderson B D O. Consensus of linear multi-agent systems with fully distributed control gains under a general directed graph. In: Proceedings of the 53rd Annual Conference on Decision and Control (CDC). Los Angeles, CA, USA: IEEE, 2014. 2993-2998 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7039849 [20] Francis B A. The linear multivariable regulator problem. SIAM Journal on Control and Optimization, 1977, 15(3):486-505 doi: 10.1137/0315033 [21] Ding Z T. Asymptotic rejection of general periodic disturbances in output-feedback nonlinear systems. IEEE Transactions on Automatic Control, 2006, 51(2):303-308 doi: 10.1109/TAC.2005.863523 [22] Xiang J, Wei W, Li Y J. Synchronized output regulation of linear networked systems. IEEE Transactions on Automatic Control, 2009, 54(6):1336-1341 doi: 10.1109/TAC.2009.2015546 [23] Su Y F, Huang J. Cooperative output regulation with application to multi-agent consensus under switching network. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2012, 42(3):864-875 doi: 10.1109/TSMCB.2011.2179981 [24] Andreasson M, Dimarogonas D V, Sandberg H, Johansson K H. Distributed control of networked dynamical systems:static feedback, integral action and consensus. IEEE Transactions on Automatic Control, 2014, 59(7):1750-1764 doi: 10.1109/TAC.2014.2309281 [25] Lombana D A B, di Bernardo M. Multiplex PI control for consensus in networks of heterogeneous linear agents. Automatica, 2016, 67:310-320 doi: 10.1016/j.automatica.2016.01.039 [26] Yang H Y, Zhang Z X, Zhang S Y. Consensus of second-order multi-agent systems with exogenous disturbances. International Journal of Robust and Nonlinear Control, 2011, 21(9):945-956 doi: 10.1002/rnc.v21.9 [27] Ding Z T. Consensus disturbance rejection with disturbance observers. IEEE Transactions on Industrial Electronics, 2015, 62(9):5829-5837 doi: 10.1109/TIE.2015.2442218 [28] Godsil C, Royle G F. Algebraic Graph Theory. New York: Springer, 2001 [29] Ren W and Cao Y C. Distributed Coordination of Multi-Agent Networks: Emergent Problems, Models, and Issues. London, UK: Springer-Verlag, 2011. [30] Ding Z T. Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain. Automatica, 2015, 51:348-345 doi: 10.1016/j.automatica.2014.10.079 [31] Liu L. Adaptive cooperative output regulation for a class of nonlinear multi-agent systems. IEEE Transactions on Automatic Control, 2015, 60(6):1677-1682 doi: 10.1109/TAC.2014.2360023 [32] Guo L, Chen W H. Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach. International Journal of Robust and Nonlinear Control, 2005, 15(3):109-125 doi: 10.1002/(ISSN)1099-1239 [33] Wang C Y, Zuo Z Y, Sun J Y, Yang J, Ding Z T. Consensus disturbance rejection for Lipschitz nonlinear multi-agent systems with input delay:a DOBC approach. Journal of the Franklin Institute, 2017, 354(1):298-315 doi: 10.1016/j.jfranklin.2016.09.019 [34] Isidori A. Nonlinear Control Systems. Berlin Heidelberg: Springer-Verlag, 1995. [35] Zheng Y F, Zhang C S, Evans R J. A differential vector space approach to nonlinear system regulation. IEEE Transactions on Automatic Control, 2000, 45(11):1997-2010. doi: 10.1109/9.887623 [36] Gu Y, Seanor B, Campa G, Napolitano M R, Rowe L, Gururajan S, et al. Design and flight testing evaluation of formation control laws. IEEE Transactions on Control Systems Technology, 2006, 14(6):1105-1112 doi: 10.1109/TCST.2006.880203 -
下载:
图(6)
计量
- 文章访问数: 2129
- HTML全文浏览量: 274
- PDF下载量: 1053
- 被引次数: 0
