| 引用本文: | 朱静,姚程华,翟象平.具有未知外部扰动的多智能体系统自适应抗扰一致性控制研究[J].控制理论与应用,2026,43(4):793~804.[点击复制] |
| ZHU Jing,YAO Cheng-hua,ZHAI Xiang-ping.Research on adaptive anti-disturbance consensus control of multi-agent systems with unknown external disturbances[J].Control Theory & Applications,2026,43(4):793~804.[点击复制] |
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| 具有未知外部扰动的多智能体系统自适应抗扰一致性控制研究 |
| Research on adaptive anti-disturbance consensus control of multi-agent systems with unknown external disturbances |
| 摘要点击 172 全文点击 27 投稿时间：2024-02-06 修订日期：2025-10-16 |
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| DOI编号 10.7641/CTA.2024.40097 |
| 2026,43(4):793-804 |
| 中文关键词 多智能体系统 鲁棒一致性 自适应观测器 外部干扰 |
| 英文关键词 multi-agent systems robust consensus adaptive disturbance observer external disturbances |
| 基金项目 国家自然科学基金项目(62188101), 智能建筑与建筑节能安徽省重点实验室开放课题项目(IBES2021KF12), 江苏省自然科学基金项目(BK20 222012, BK20231439)资助. |
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| 中文摘要 |
| 本文研究了一类具有外部扰动, 且扰动来自于未知外生系统的多智能体系统抗扰一致性控制问题, 将控制
器的参数设计转化为求解线性矩阵不等式的可行解. 首先, 本文设计了一种自适应扰动观测器以估计扰动信息; 其
次, 利用扰动估计信息, 提出了一种具有扰动补偿项的分布式动态输出反馈控制器设计方案, 该控制器既利用了相
邻智能体的相对输出信息, 又利用了相邻控制器的相对状态信息; 接下来, 通过模型变换和系统解耦的方法, 将多智
能体系统的鲁棒H∞一致性控制问题简化为一组独立线性子系统的H∞镇定问题, 得到了多智能体系统实现渐近一
致的充分条件; 最后, 通过数值仿真验证了所设计的观测器和一致性控制器的有效性. |
| 英文摘要 |
| This paper investigates the anti-disturbance consensus control problem of a class of multi-agent systems with
external disturbances originating from unknown external sources. The parameter design of the controller is formulated
as finding feasible solutions to a set of linear matrix inequalities. Firstly, an adaptive disturbance observer is designed
to estimate disturbance information. Secondly, leveraging the estimated disturbance information, a distributed dynamic
output feedback controller design is proposed, incorporating a disturbance compensation term. This controller utilizes both
relative output information from neighboring agents and relative state information from adjacent controllers. Subsequently,
through model transformation and system decoupling, the robust H∞ consensus control problem for multi-agent systems
is reduced to a set of independent H∞ stabilization problems for single linear subsystems, providing sufficient conditions
for the asymptotic consensus of multi-agent systems. Finally, the effectiveness of the designed observer and consensus
controller is validated through numerical simulations. |
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