【6h】

Formation Control of Heterogeneous Discrete-Time Nonlinear Multi-Agent Systems With Uncertainties

机译:具有不确定性的异构离散非线性多Agent系统的形成控制

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摘要

This paper investigates the formation control problem of heterogeneous discrete-time nonlinear multi-agent systems with structural uncertainties. The control objective is to make the outputs of agents reach a desired formation while tracking a leader. The formation control problem of heterogeneous discrete-time multi-agent systems is first converted into a robust output regulation problem, and then, a distributed formation control scheme based on output regulation framework is proposed. A p-copy internal model is synthesized into the distributed formation control law such that the overall closed-loop system can be robust to structural uncertainties. It is shown that the heterogeneous discrete-time nonlinear multi-agent system can reach the desired formation regardless of small parameter permutations of agents under the proposed control law. Finally, simulation and experiment studies are provided to demonstrate the effectiveness of the proposed control law.
机译:本文研究了具有结构不确定性的异构离散非线性多主体系统的编队控制问题。控制目标是在跟踪领导者的同时使代理的输出达到所需的形式。首先将异构离散多智能体系统的编队控制问题转化为鲁棒的输出调节问题,然后提出一种基于输出调节框架的分布式编队控制方案。将p副本内部模型综合到分布式地层控制定律中,以便整个闭环系统对结构不确定性具有鲁棒性。结果表明,在所提出的控制律下,无论智能体的参数排列有多小,异构的离散时间非线性多智能体系统都可以达到期望的形式。最后,通过仿真和实验研究证明了所提出的控制律的有效性。

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