带有输入时滞的领导跟随系统扰动抑制一致性

Consensus disturbance rejection for leader-following multi-agent systems with input delay

摘要:

针对一类受到外部干扰且有输入时滞的多智能体系统,讨论了在固定有向拓扑下的领导跟随扰动抑制一致性问题。首先,对于存在外部干扰的多智能体系统,给出分布式状态观测器,使得每个智能体的系统状态和外部干扰被同时估计。其次,基于截取预测方法,利用邻居智能体相对输出信息获得的状态估计和自身干扰估计为每个智能体设计一致性协议。然后,用Lyapunov-Krasovskii理论对系统的观测性和稳定性进行分析,获得满足多智能体系统稳定的充分条件,并将控制器增益和观测器增益求解转化为求解线性矩阵不等式(LMIs)的形式。最后,通过一个仿真例子来验证所得结果的可行性和有效性。

Abstract:

The problem of the leader-follower consensus disturbance rejection under the directed network with fixed topology for a class of multi-agent systems with input delay and exogenous disturbances is discussed. Firstly, for the multi-agent systems with exogenous disturbances, a distributed state observer is given to estimate the state and disturbance simultaneously. Secondly, based on the truncated prediction approach, a consensus protocol is proposed for each agent by utilizing the estimated state and its own disturbance estimate information, which are obtained by using the relative output information between neighbors. Then sufficient conditions for the stability and the observability of the multi-agent systems are constructed by using Lyapunov-Krasovskii theory and the problem of solving feedback gain matrix and observer gain matrix are transformed into calculating linear matrix inequalities (LMIs). Finally, a simulation example is given to demonstrate the feasibility and effectiveness of the results.