广东工业大学学报 ›› 2023, Vol. 40 ›› Issue (05): 88-93.doi: 10.12052/gdutxb.220155

• 综合研究 • 上一篇    

基于脉冲观测器的多智能体系统的领导跟随一致性

胡然, 彭世国   

  1. 广东工业大学 自动化学院, 广东 广州 510006
  • 收稿日期:2022-10-13 发布日期:2023-09-26
  • 通信作者: 彭世国(1967-),男,教授,博士生导师,主要研究方向为复杂系统随机控制理论,E-mail:sgpeng@gdut.edu.cn
  • 作者简介:胡然(1994-),女,硕士研究生,主要研究方向为脉冲观测器的分析与设计、多智能体系统协同控制问题,E-mail:huran613@163.com
  • 基金资助:
    国家自然科学基金资助项目(61973092)；广东省基础与应用基础研究基金资助项目(2019A1515012104)

Impulsive Observer-based Leader-following Consensus for Multi-agent Systems

Hu Ran, Peng Shi-guo   

  1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2022-10-13 Published:2023-09-26

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摘要： 本文研究了只有部分跟随者可获取领导者信息的多智能体系统的领导跟随一致性问题。对于不能获得领导者信息的部分跟随者，需要估计领导者的状态。另外，鉴于在某些条件下只能获得智能体的不连续的输出信息，引入脉冲观测器来减少多智能体系统的采样次数。本文的目的是设计一种基于脉冲观测器的控制器来实现领导跟随多智能体系统的一致性。首先，设计了可以估计领导者状态的分布式脉冲全维观测器以及一致性协议。其次，推导出误差系统的动力学方程，并利用误差变量构造合适的Lyapunov函数。最后，利用Lyapunov稳定性理论结合线性矩阵不等式研究误差系统的稳定性问题，得到多智能体系统领导跟随一致性问题的充分条件，并用数值仿真验证了结果的有效性。

关键词: 多智能体系统, 脉冲观测器, 线性矩阵不等式, 一致性

Abstract: In this paper, we investigate the problem of consensus in leader-following multi-agent system, where the information of the leader is only accessed by a subset of the following agents. For the part of the follower who cannot obtain the leader’s information, the state of the leader need to be estimated. In addition, considering the discontinuity of obtaining the output information of agents under certain conditions, an impulsive observer is introduced to reduce the sampling times among multiple agents. To achieve this, this paper aims to design a controller based on impulsive observer to achieve the consensus of leader-following multi-agent systems. Firstly, an impulsive full-order observer and a consensus protocol are designed for each follower, so that the follower can use the observer to estimate the leader. Secondly, the dynamic equation of the error system is derived, and the appropriately Lyapunov function is constructed by using the error variables. Finally, the stability of error systems is studied by using the Lyapunov stability theory combining with the linear matrix inequalities, so that the sufficient conditions for the leader-following consensus problem of multi-agent systems can be obtained. Numerical simulation results clearly show the effectiveness of the proposed controller.

Key words: multi-agent systems, impulsive observer, linear matrix inequality, consensus

中图分类号: 

  • TP273
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