非匹配扰动下的多智能体系统固定时间一致跟踪

孙小童; 郭戈; 张鹏飞

doi:10.16383/j.aas.c190339

非匹配扰动下的多智能体系统固定时间一致跟踪

doi: 10.16383/j.aas.c190339

孙小童^1,,
郭戈^{1, 2, 3,},
张鹏飞^1,

1.
大连海事大学船舶电气工程学院大连 116026
2.
东北大学流程工业综合自动化国家重点实验室沈阳 110004
3.
东北大学秦皇岛分校控制工程学院秦皇岛 066004

基金项目: 国家自然科学基金(61573077, U1808205)资助

详细信息

作者简介:
孙小童：大连海事大学控制科学与工程博士研究生. 主要研究方向为多智能体系统.E-mail: sdyxsxt@126.com

郭戈：东北大学教授. 1998年获得东北大学博士学位. 主要研究方向为智能交通系统, 运动目标检测跟踪网络. 本文通信作者.E-mail: geguo@yeah.net

张鹏飞：大连海事大学控制科学与工程博士研究生. 主要研究方向为多智能体系统, 水面水下机器人镇定控制、跟踪控制.E-mail: peng-fei_zhang@outlook.com

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出版历程
- 收稿日期: 2019-05-07
- 录用日期: 2020-01-09
- 刊出日期: 2021-06-10

Fixed-time Consensus Tracking of Multi-agent Systems Under Unmatched Disturbances

SUN Xiao-Tong^1
,,
GUO Ge^{1, 2, 3
,},
ZHANG Peng-Fei^1
,

1.
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026
2.
Laboratory of Synthetical Automation for Industrial Process, Northeastern University, Shenyang 110004
3.
School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004

Funds: Supported by National Natural Science Foundation of China (61573077, U1808205)

More Information

Author Bio:
SUN Xiao-Tong　Ph. D. candidate at the School of Control Science and Engineering, Dalian Maritime University. His research interest covers multi-agent systems

GUO Ge　Professor at Northeastern University. He received his Ph.D. degree from Northeastern University in 1998. His research interest covers intelligent transportation systems, moving target detection and tracking with networks. Corresponding author of this paper

ZHANG Peng-Fei　Ph. D. candidate at the School of Control Science and Engineering, Dalian Maritime University. His research interest covers multi-agent systems, stabilizing control and tracking control of surface underwater robot

摘要

摘要: 本文研究了有向拓扑网络中具有非匹配扰动的二阶多智能体系统固定时间一致跟踪问题. 基于固定时间扰动观测器, 估计系统匹配扰动, 其次引入正弦补偿函数设计非奇异分布协议, 在避免系统奇异性的同时克服了非匹配扰动, 使多智能体系统实现固定时间一致跟踪. 最后通过仿真验证了算法的有效性.
- 多智能体系统 /
- 非匹配扰动 /
- 正弦补偿函数 /
- 固定时间一致跟踪
Abstract: This paper investigates the fixed-time consensus tracking problem for second-order multi-agent system with mismatched perturbations in directed topology networks. Based on the fixed-time disturbance observer, the system is estimated to match the disturbance. Secondly, a sine compensation function is introduced to design a nonsingular distribute protocol, the unmatched disturbances were overcome while avoiding the singularity of the system, so that the multi-agent system achieves fixed-time consensus tracking. Finally, simulation is included to demonstrate the performance of the new algorithm.
- Multi-agent systems /
- unmatched disturbances /
- sine compensation function /
- fixed-time consensus tracking

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图 1 系统的相位图

Fig. 1 The phase plot of the system

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图 2 算法流程图

Fig. 2 Algorithm flowchart

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图 3 交互拓扑图${g^e}$

Fig. 3 The topology graph ${g^e}$

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图 4 协议(22)下的位置轨迹

Fig. 4 Position trajectory under protocol (22)

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图 5 协议(22)下的速度轨迹

Fig. 5 Speed trajectory under protocol (22)

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图 6 协议(36)下的位置轨迹

Fig. 6 Position trajectory under protocol (36)

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图 7 协议(36)下的速度轨迹

Fig. 7 Speed trajectory under protocol (36)

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