Finite-time Containment Control of Second-order Multi-agent Systems With Mismatched Disturbances
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摘要: 针对多自主体系统群集运动问题，本文研究了带有不匹配干扰的二阶系统有限时间包容控制.运用现代控制理论，设计了非线性观测器，对系统未知状态和干扰进行估计.在状态估计的基础上，构建了基于干扰观测器的多自主体系统的协同控制算法.应用代数图论和齐次性理论等方法，分析了二阶多自主体系统有限时间包容控制.数据仿真中应用基于观测器的包容控制算法，使得系统的运动状态最终都收敛到由多个领导者所围成的目标区域中，验证了本文结果的有效性.Abstract: In this paper, a finite-time containment control algorithm is studied for the second-order multi-agent systems with mismatched disturbances. By applying the modern control theory, a nonlinear observer is designed to estimate the unknown states and disturbances of the systems. On the basis of the state estimation, a cooperative control algorithm based on disturbance observers for multi-agent systems is constructed. By applying the algebraic graph theory and homogeneous theory, the finite-time containment control of the second-order multi-agent systems is analyzed. The validity of containment control algorithm based on the disturbance observer is verified in simulation examples, where the motion states of the system eventually converge to the target area surrounded by multiple leaders.
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Key words:
- Containment control /
- finite time /
- mismatched disturbances /
- multiple leaders
1) 本文责任编委 刘艳军 -
图 2 二阶多自主体系统跟随者的运动轨迹
Fig. 2 The motion track of followers in the second-order multi-agent systems
图 4 速度$\overline{{V}} _F$的估计值
Fig. 4 The estimated value of velocity $\overline{{V}} _F$
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