基于自适应分布式滤波观测器的多智能体系统编队控制

本文考虑了全局指令系统输出信息受到信道扰动情况下线性多智能体系统的编队控制问题.首先,基于协作式输出调节理论框架对线性多智能体系统的编队控制问题进行数学建模.其次,针对受到信道扰动的全局指令系统输出信息,提出了一类基于受扰输出的自适应分布式滤波观测器,在降低网络信息交换量的同时消除扰动的影响.最后,设计了输出反馈确定等价控制律,解决了线性多智能体系统的分布式编队控制问题.给出了数值仿真结果检验控制性能.

Formation control of multiagent systems based on adaptive distributed filtering observer

In this paper, we consider the formation control problem for linear multiagent systems where the output information of the global command generator is subject to channel disturbance. First, the formation control problem is for-mulated under the cooperative output regulation control framework. Second, to deal with the disturbed output information of the global command generator, a novel output-based adaptive distributed filtering observer is proposed, featuring less information exchange over the communication network and complete rejection of the channel disturbance. Finally, certain-ty equivalence output feedback control law is synthesized to solve the formation control problem of the linear multiagent systems in a distributed way. Simulation results are given to validate the control performance.