引用本文:李桂璞,乔贵方,刘娣.输出反馈主动抗干扰编队控制算法[J].控制理论与应用,2026,43(1):183~191.[点击复制]
LI Gui-pu,QIAO Gui-fang,LIU Di.Output feedback active anti-disturbance formation control algorithms[J].Control Theory & Applications,2026,43(1):183~191.[点击复制]
输出反馈主动抗干扰编队控制算法
Output feedback active anti-disturbance formation control algorithms
摘要点击 179  全文点击 26  投稿时间：2024-08-31  修订日期：2025-12-16
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DOI编号  10.7641/CTA.2025.40474
  2026,43(1):183-191
中文关键词  多智能体系统  干扰  编队  输出反馈  干扰补偿
英文关键词  multi-agent systems  disturbances  formation  output feedback  disturbance compensation
基金项目  国家自然科学基金项目(62203211),南京工程学院科研基金项目(YKJ202113)资助.
作者单位E-mail
李桂璞* 南京工程学院自动化学院 ligp@njit.edu.cn 
乔贵方 南京工程学院自动化学院  
刘娣 南京工程学院自动化学院  
中文摘要
      本文研究带不匹配干扰和未知状态的高阶多智能体系统的编队控制问题.利用干扰估计补偿方法和滑模 控制,提出了一种基于输出反馈的主动抗干扰编队控制算法.在智能体状态已知的情况下,针对每个智能体设计了 广义比例积分观测器以估计干扰,结合滑模控制,设计了基于状态反馈的主动抗干扰编队控制器.所设计的分布式 控制器使得多智能体系统实现渐近编队.在系统存在未知状态的情况下,通过构造扩张状态观测器对未知状态和 干扰进行重构,结合状态反馈编队控制设计,给出了基于输出反馈的主动抗干扰编队控制算法,使得多智能体系统 达到渐近编队.仿真结果验证了所提出的编队控制方法的有效性.
英文摘要
      This paper investigates formation control problem of higher-order multi-agent systems with both unknown states and mismatched disturbances. Using disturbances estimation (compensation) method and sliding-mode control, out put feedback based active anti-disturbance formation control algorithms are proposed. When the agents states are known, generalized proportional integral observer is designed for each agent. Combining disturbances compensation with sliding mode control, state feedback based active anti-disturbance formation controllers are developed. The developed distributed controllers guarantee that the multi-agent systems achieve formation asymptotically. When the agents states are unknown, both the unknown states and the disturbances are estimated by constructing extended state observer. Combined with state feedback formation control design, output feedback based active anti-disturbance formation control algorithms are given. Under the output feedback based distributed control algorithms, the multi-agent systems realize formation asymptotically. Simulation results validate the effectiveness of the proposed formation control methods.