非线性多智能体系统分布式鲁棒输出调节

摘要

In this paper, the coordinative control problem of a multi-agent system with general nonlinear dynamics and uncertainty parameters is considered in order to solve it, the nonlinear distributed feedback control is designed to make the agents robustly and asymptotically track the reference or reject disturbance. The reference or disturbance signals are generated by an exosys-tem. Which is viewed as active leaders or the environmental disturbance in the considered multi-agent system. Finally, an illustrative example is provided to demonstrate the effectiveness of the obtained results.%为解决具有一般非线性形式和不确定参数的多智能体系统的协调控制问题,设计了非线性分布式反馈控制器,使得多智能体系统鲁棒渐近跟踪参考信号或者鲁棒渐近抑制干扰.在所考虑的多智能体系统中,将动态领导者或者环境干扰看作是产生参考信号或者干扰信号的外部系统.最后,给出一个仿真算例,验证所得结果的有效性.