基于输出调节的异构多智能体系统包围控制研究

摘要

To solve the problem that containment control of heterogeneous multi-agent systems, a control strategy based on output regulation theory is proposed.A new distributed dynamic state feedback control protocol is designed based on output regulation theory.The leader is set as the external system in the output regulation.For the problem that some followers in the system cannot obtain the state information of the leader, a dynamic observer is designed for each follower, so that the follower can use the observer to estimate the leader.In order to realize the containment control of multi-leaders, a containment error function based on output adjustment is designed.Finally, under any initial conditions, the motion trajectories of all follower agents tend to be in the convex hull of the leader's motion trajectory, which realizes the containment control.The stability of the system is proved by graph theory, Lyapunov stability theory, matrix theory and other related knowledge.The validity of the theoretical results given in the paper is verified by an example simulation.%针对异构多智能体系统包围控制问题, 提出了基于输出调节理论的控制策略.利用输出调节理论设计了一种新的分布式动态状态反馈控制协议.设定领导者为输出调节中的外部系统, 针对系统中部分跟随者无法获取领导者的状态信息的问题, 为每一个跟随者设计了动态状态观测器, 使跟随者可以利用观测器估计出领导者的状态.为了实现多领导者的包围控制, 设计了一种基于输出调节的包围误差函数, 最终实现在任意初始条件下, 所有跟随者智能体的运动轨迹趋向于领导者运动轨迹张成的凸包中, 实现了包围控制.利用图论、Lyapunov稳定性理论、矩阵理论等相关知识证明了系统的稳定性, 并通过实例仿真验证了文中所给理论结果的有效性.