| 带有不匹配干扰的二阶多自主体系统有限时间包容控制 |
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| 引用本文： | 李玉玲,杨洪勇,刘凡,杨怡泽.带有不匹配干扰的二阶多自主体系统有限时间包容控制[J].自动化学报,2019,45(9):1783-1790. |
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| 作者姓名： | 李玉玲 杨洪勇 刘凡 杨怡泽 |
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| 作者单位： | 1.鲁东大学信息与电气工程学院 烟台 264025 中国 |
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| 基金项目： | 国家自然科学基金61472172国家自然科学基金61771231山东省自然科学基金ZR2018ZC0438烟台市重点研发项目2019XDHZ085山东省自然科学基金ZR2017PF010国家自然科学基金61673200 |
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| 摘 要： | 针对多自主体系统群集运动问题，本文研究了带有不匹配干扰的二阶系统有限时间包容控制.运用现代控制理论，设计了非线性观测器，对系统未知状态和干扰进行估计.在状态估计的基础上，构建了基于干扰观测器的多自主体系统的协同控制算法.应用代数图论和齐次性理论等方法，分析了二阶多自主体系统有限时间包容控制.数据仿真中应用基于观测器的包容控制算法，使得系统的运动状态最终都收敛到由多个领导者所围成的目标区域中，验证了本文结果的有效性.
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| 关 键 词： | 包容控制 有限时间 不匹配干扰 多领导者 |
| 收稿时间： | 2017-10-09 |
Finite-time Containment Control of Second-order Multi-agent Systems With Mismatched Disturbances |
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| Affiliation: | 1.School of Information and Electrical Engineering, Ludong University, Yantai 264025, China2.School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia |
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| Abstract: | In this paper, a finite-time containment control algorithm is studied for the second-order multi-agent systems with mismatched disturbances. By applying the modern control theory, a nonlinear observer is designed to estimate the unknown states and disturbances of the systems. On the basis of the state estimation, a cooperative control algorithm based on disturbance observers for multi-agent systems is constructed. By applying the algebraic graph theory and homogeneous theory, the finite-time containment control of the second-order multi-agent systems is analyzed. The validity of containment control algorithm based on the disturbance observer is verified in simulation examples, where the motion states of the system eventually converge to the target area surrounded by multiple leaders. |
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