Cooperative Output Regulation of Heterogeneous Multi-agent Systems by Self-triggered
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摘要: 本文针对线性异构多智能体系统，基于自适应自触发条件，分别设计了状态和输出反馈协同控制器.其中自适应控制策略可以避免使用多智能体系统的全局信息，从而实现分布式控制；自触发控制不仅可以避免对触发条件进行连续监测，还可以有效地降低网络的通信负载和控制器的更新次数，且不存在芝诺现象.最后通过4个跟随智能体和一个领导智能体进行了协同输出直角编队仿真实验，实现了多智能体系统对外部系统的渐近跟踪和干扰抑制，验证了结果的有效性.Abstract: This paper studies the cooperative output regulation problem for heterogeneous multi-agent systems. Based on the adaptive self-triggered conditions, a novel distributed adaptive cooperative output control mechanism is designed for state and output feedback, respectively. The adaptive control strategy can avoid using the global information of multi-agent systems and achieve distributed control. The self-triggering mechanism can not only avoid the continuous monitoring of the triggering conditions, but also can effectively reduce the network communication loads and the number of updates of the controller, and there is no Zeno phenomenon. Finally the right-angle formation simulation with four follower agents and a leader agent is presented, which can achieve the asymptotic tracking and disturbance rejection, and illustrate the effectiveness of main results.1) 本文责任编委 刘艳军
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图 4 智能体的调节输出$\boldsymbol{e}_{i1}(t)$, $i=1, 2, 3, 4$
Fig. 4 Regulated outputs $\boldsymbol{e}_{i1}(t)$, $i=1, 2, 3, 4$
图 5 智能体的调节输出$\boldsymbol{e}_{i2}(t)$, $i=1, 2, 3, 4$
Fig. 5 Regulated outputs $\boldsymbol{e}_{i2}(t)$, $i=1, 2, 3, 4$
图 6 控制器的自适应参数$\Omega_{i}(t)$, $i=1, 2, 3, 4$
Fig. 6 Adaptive parameters of the controllers $\Omega_{i}(t)$, $i=1, 2, 3, 4$
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