不确定二阶非线性多智能体系统时变编队跟踪控制

冉茂鹏; 谢立华; 李骏承

doi:10.1631/FITEE.1800557

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不确定二阶非线性多智能体系统时变编队跟踪控制

复杂系统与智能控制专辑 | Updated：2022-05-19

- 不确定二阶非线性多智能体系统时变编队跟踪控制
- Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems
- 信息与电子工程前沿（英文） 2019年20卷第1期页码：76-87
- Affiliations：
  
  School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore
- Author bio：
  
  Mao-peng RAN, E-mail: mpran@ntu.edu.sg
  [ "Li-hua XIE, E-mail: ELHXIE@ntu.edu.sg" ]
  [ "Jun-cheng LI, E-mail: juncheng001@e.ntu.edu.sg" ]
- Funds：
  
  Project supported by the Delta-NTU Corporate Lab through the NRF Corporate Lab@University Scheme
- DOI：10.1631/FITEE.1800557
  中图分类号： TP13
- 收稿：2018-09-12，
  
  修回：2019-;1-;8，
  
  纸质出版：2019-01
- Accepted：
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冉茂鹏, 谢立华, 李骏承. 不确定二阶非线性多智能体系统时变编队跟踪控制[J]. 信息与电子工程前沿（英文）, 2019,20(1):76-87.

Mao-peng RAN, Li-hua XIE, Jun-cheng LI. Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 76-87.
冉茂鹏, 谢立华, 李骏承. 不确定二阶非线性多智能体系统时变编队跟踪控制[J]. 信息与电子工程前沿（英文）, 2019,20(1):76-87. DOI： 10.1631/FITEE.1800557.

Mao-peng RAN, Li-hua XIE, Jun-cheng LI. Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 76-87. DOI： 10.1631/FITEE.1800557.

摘要

研究了含未知非线性动态和外界干扰的二阶多智能体系统时变编队跟踪控制问题。在所考虑的时变编队跟踪控制中，每个跟踪者在完成预设编队的同时，需要跟踪领导者轨迹。将未知非线性动态和外界干扰视为每个多智能体的扩张状态，并设计扩张状态观测器对扩张状态进行在线观测。在此基础上，提出基于扩张状态观测器的时变编队跟踪控制协议。理论分析表明，所设计的时变编队跟踪控制协议能够保证观测器观测误差和多智能体系统时变编队跟踪误差收敛至任意小。最后，将所设计的时变编队跟踪协议应用于无人机目标合围问题，验证了该方法的有效性。

Abstract

Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance

and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance

and is regarded as an extended state of the agent. To estimate the total uncertainty

we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that

under the proposed protocol

the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

关键词

Keywords

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