引用本文:刘远山,杨洪勇,刘凡,李玉玲,杨怡泽.事件触发下多智能体系统一致性的干扰主动控制[J].控制理论与应用,2020,37(5):969~977.[点击复制]
LIU Yuan-shan,YANG Hong-yong,LI Yu-ling,LIU Fan,YANG Yi-ze.Active disturbance rejection control for multi-agent systems based on distributed event-triggered strategy[J].Control Theory and Technology,2020,37(5):969~977.[点击复制]
事件触发下多智能体系统一致性的干扰主动控制
Active disturbance rejection control for multi-agent systems based on distributed event-triggered strategy
摘要点击 2477  全文点击 871  投稿时间：2018-10-17  修订日期：2019-11-09
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DOI编号  10.7641/CTA.2019.80796
  2020,37(5):969-977
中文关键词  多智能体系统  外部扰动  干扰主动控制  分布式事件触发  领导跟随一致性
英文关键词  multi-agent systems  external disturbances  active disturbance rejection control  distributed event-triggered strategy  leader-following consensus
基金项目  国家自然科学基金项目(61673200), 山东省自然科学基金重大基础研究项目(ZR2018ZC0438), 烟台市重点研发项目(2019XDHZ085)资助.
作者单位E-mail
刘远山 鲁东大学 信息与电气工程学院 yuanshanliu@163.com 
杨洪勇* 鲁东大学 信息与电气工程学院 hyyang@yeah.net 
刘凡 鲁东大学 信息与电气工程学院  
李玉玲 鲁东大学 信息与电气工程学院  
杨怡泽 School of Electrical Engineering and Telecommunications,The University of New South Wales,Sydney,Australia  
中文摘要
      本文针对带有外部干扰影响的多智能体系统, 研究了基于事件触发机制下的多智能体系统Leader-Following 一致性的控制问题. 采用干扰观测器来估计系统中存在的干扰, 并设计了基于事件触发机制的干扰主动控制方 案. 运用现代控制理论和矩阵论等工具分析了多智能体协同运动算法得到了多智能体系统在分布式事件触发机制 下的一致性收敛条件, 并且分析了本文设计的分布式事件触发机制的时间间隔存在正的下界. 最后通过计算机仿 真, 验证了本文所提控制算法的有效性.
英文摘要
      For the multi-agent systems with external disturbances, this paper studies the consensus control problems of Leader-Following model. A distributed disturbances observer is proposed to estimate the disturbances in the systems, and an active control scheme based on the disturbances observer is designed. The cooperative motion algorithm is analyzed by using modern control theory and matrix theory. The consistency convergence condition of the multi-agent systems is obtained by means of the distributed event-triggered strategy, and the lower bound of the event-triggered time interval is given. Finally, the effectiveness of the proposed control algorithm is verified by computer simulation.