非匹配不确定性条件下的编队分布式协同控制

摘要

针对非匹配不确定性、饱和输入等约束条件下的编队协同控制问题展开研究.通过引入辅助系统和扩张状态观测器实现对系统状态的实时跟踪;设计了滑模扰动观测器,实现在有限时间内精确估计系统的全部未知扰动;在此基础上,提出了反馈控制协议,显著改善了系统控制性能,有效降低了计算负担,使得通过选择合适参数能够保证状态追踪误差收敛到有界域内;最后通过Lyapunov稳定性理论对控制系统稳定性进行严格证明.数值算例验证了控制协议有效性,结果表明所设计的控制协议能够满足复杂约束条件下的编队协同控制要求.%Tracking control problem of the leader-follower multi-agent systems with unmatched uncertainties and input saturation is investigated.An auxiliary system and extended state observer is imported to approximate system position states.Unknown disturbances of system are estimated by a sliding-mode disturbance observer.A sliding mode disturbance observer based control protocol is proposed and the stability is guaranteed via Lyapunov theory analysis.In addition, the effect of unknown saturation input can be estimated and compensated by the sliding mode disturbance observer.The feasibility of the theoretical analysis is validated through a numerical simulation.