Robust consensus tracking for an integrator-type multi-agent system with disturbances and unmodelled dynamics
Robust consensus tracking for an integrator-type multi-agent system with disturbances and unmodelled dynamics
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DOI：
10.1080/00207179.2010.535855
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发表时间：
2011-01
影响因子：
2.1
通讯作者：
G. Hu
中科院分区：
文献类型：
--
作者：
G. Hu
本文研究了具有积分型动力学的多智能体系统在存在干扰和未建模动力学的情况下的鲁棒共识跟踪问题。想要跟踪的轨迹只提供给一小部分团队成员。提出了一种辨识器来估计未知干扰和未建模的动力学。在此基础上开发了共识控制器，利用从相邻智能体获得的局部信息实现渐近共识跟踪。利用基于李雅普诺夫的分析和类不变性定理证明了闭环的稳定性。通过数值仿真验证了所设计的鲁棒共识控制器的有效性。
In this article, a robust consensus tracking problem for a multi-agent system with integrator-type dynamics has been addressed in the presence of disturbances and unmodelled dynamics. The desired trajectory to be tracked is only provided to a small group of team members. An identifier is developed to estimate the unknown disturbances and unmodelled dynamics. A consensus controller is developed based on this identifier to achieve asymptotic consensus tracking using the local information obtained from neighbouring agents. The closed-loop stability is proved using the Lyapunov-based analysis and an invariance-like theorem. Numerical simulations are provided to demonstrate the effectiveness of the developed robust consensus controller.