| 基于滑模观测器的多智能体一致性控制 |
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| 引用本文： | 金治群,牛玉刚,邹媛媛.基于滑模观测器的多智能体一致性控制[J].控制理论与应用,2017,34(2):251-259. |
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| 作者姓名： | 金治群 牛玉刚 邹媛媛 |
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| 作者单位： | 华东理工大学,华东理工大学,华东理工大学 |
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| 摘 要： | 本文针对速度不可测下的多智能体系统提出一种基于滑模观测器的有限时间一致性控制算法.首先, 利用滑模观测器在有限时间内估计每个智能体的速度信息. 然后,利用估计信息设计非奇异终端滑模控制律,该控制律能够保证智能体系统在有限时间内达到一致性. 最后,通过数值仿真验证了该一致性控制算法的有效性.
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| 关 键 词： | 多智能体系统 一致性 滑模观测器 终端滑模控制 |
| 收稿时间： | 2016/1/18 0:00:00 |
| 修稿时间： | 2016/12/6 0:00:00 |
Consensus for multi-agent systems based on sliding-mode observer |
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| JIN Zhi-qun,NIU Yu-Gang and ZOU Yuan-yuan.Consensus for multi-agent systems based on sliding-mode observer[J].Control Theory & Applications,2017,34(2):251-259. |
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| Authors: | JIN Zhi-qun NIU Yu-Gang and ZOU Yuan-yuan |
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| Affiliation: | East China University of Science and Technology,East China University of Science and Technology,East China University of Science and Technology |
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| Abstract: | In this paper, a finite time consensus algorithm based on velocity observer is proposed for multi-agent systems with unmeasured velocity. Firstly, the sliding mode observer is utilized to estimate the velocity of each agent. Then, the estimation information is utilized to design the nonsingular terminal sliding mode control law, which ensures the multi-agent system to achieve finite-time consensus. Finally, the effectiveness of the proposed algorithm is verified by numerical simulation. |
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| Keywords: | multi-agent systems consensus sliding-mode observer terminal sliding-mode control |
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