High‐order leader‐follower tracking control under limited information availability
High‐order leader‐follower tracking control under limited information availability
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DOI：
10.1002/rnc.6251
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发表时间：
2022-07
影响因子：
3.9
通讯作者：
Chuan Yan;Tao Yang;H. Fang
中科院分区：
文献类型：
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作者：
Chuan Yan;Tao Yang;H. Fang
有限的信息可用性是多智能体系统控制的一个根本挑战，因为智能体通常缺乏测量自身某些状态的感知能力，只能与邻居交换数据。当智能体受高阶动力学控制时，挑战变得更大。本工作的动机是进行控制设计的线性和非线性高阶领导者-追随者多智能体系统的情况下，只有一个智能体的第一个状态被测量。为了解决这个开放的挑战，我们开发了新的分布式观测器，使追随者能够重建关于他们自己和领导者的未测量或未知量，并在此基础上，构建基于观测器的跟踪控制方法。我们分析了所提出的方法的收敛特性，并通过仿真验证其性能。
Limited information availability represents a fundamental challenge for control of multi‐agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The challenge becomes even greater when agents are governed by high‐order dynamics. The present work is motivated to conduct control design for linear and nonlinear high‐order leader‐follower multi‐agent systems in a context where only the first state of an agent is measured. To address this open challenge, we develop novel distributed observers to enable followers to reconstruct unmeasured or unknown quantities about themselves and the leader and on such a basis, build observer‐based tracking control approaches. We analyze the convergence properties of the proposed approaches and validate their performance through simulation.