考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制

胡京林; 孙秀霞; 贺磊; 刘日; 邓雄峰

doi:10.1631/FITEE.1601801

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考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制

常规文章 | Updated：2022-05-19

- 考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制
- Adaptive output feedback formation tracking for a class of multiagent systems with quantized input signals
- 信息与电子工程前沿（英文） 2018年19卷第9期页码：1086-1097
- Affiliations：
  
  Equipment Management and UAV Engineering College, Air Force Engineering University, Xi'an 710038, China
- Author bio：
  
  [ "Jing-lin HU, E-mail: hujinglineee@163.com" ]
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 20155896025)
- DOI：10.1631/FITEE.1601801
  中图分类号： TP273
- 收稿：2016-12-11，
  
  修回：2018-;9-;9，
  
  纸质出版：2018-09
- Accepted：
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胡京林, 孙秀霞, 贺磊, 等. 考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制[J]. 信息与电子工程前沿（英文）, 2018,19(9):1086-1097.

Jing-lin HU, Xiu-xia SUN, Lei HE, et al. Adaptive output feedback formation tracking for a class of multiagent systems with quantized input signals[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(9): 1086-1097.
胡京林, 孙秀霞, 贺磊, 等. 考虑量化输入信号的多智能体系统自适应输出反馈编队跟踪控制[J]. 信息与电子工程前沿（英文）, 2018,19(9):1086-1097. DOI： 10.1631/FITEE.1601801.

Jing-lin HU, Xiu-xia SUN, Lei HE, et al. Adaptive output feedback formation tracking for a class of multiagent systems with quantized input signals[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(9): 1086-1097. DOI： 10.1631/FITEE.1601801.

摘要

针对带有不确定性和量化输入信号的多智能体系统的编队跟踪控制问题，提出一种自适应输出反馈控制方法。利用非线性模型描述智能体系统，其中包含未知参数和不可测状态。建立一个高增益状态观测器以估测系统不可测状态。在高增益观测器和迟滞量化器基础上，设计自适应输出反馈控制方法，并确定控制系统的参数设置方法。稳定性分析证明该控制方法能使多智能体系统跟踪参考航迹并保持编队队形。同时，闭环系统中的所有信号均能保持有界。最后，仿真实验表明该控制方法的有效性。

Abstract

A novel adaptive output feedback control approach is presented for formation tracking of a multiagent system with uncertainties and quantized input signals. The agents are described by nonlinear dynamics models with unknown parameters and immeasurable states. A high-gain dynamic state observer is established to estimate the immeasurable states. With a proper design parameter choice

an adaptive output feedback control method is developed employing a hysteretic quantizer and the designed dynamic state observer. Stability analysis shows that the control strategy can guarantee that the agents can maintain the formation shape while tracking the reference trajectory. In addition

all the signals in the closed-loop system are bounded. The effectiveness of the control strategy is validated by simulation.

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Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems