具有弱通讯的多智能体分布式自适应协同跟踪控制

doi:10.12305/j.issn.1001-506X.2021.02.23

Abstract

Abstract:

A novel distributed adaptive backstepping control method is proposed for high-order strict feedback nonlinear multi-agent systems with weak communication. And the cooperative tracking control problem of the system is studied. Firstly, five agents are taken as the controlled objects, one of them is formed the "leader follower" formation mode in a distributed structure. The leader's velocity is taken as the forward speed of the whole formation system, and the other agents follow the leader's formation movement as followers. Secondly, the adaptive inversion method is used to estimate the uncertain parameters of the system due to weak communication, and a compensation tracking control law is designed for the system, so that the agents in the system can realize autonomous tracking of time-varying reference trajectory, and avoid obstacles with the optimal trajectory ultimately maintain the desired formation motion. Then, according to Lyapunov stability theory, the effectiveness of the proposed control law is proved. Finally, the simulation results show that the proposed control law can make the lateral and longitudinal tracking errors and the relative errors of the reference trajectory converge rapidly, and keep the system asymptotically stable in the tracking process.

Key words: weak communication, multi-agent system, back-stepping technology, consensus tracking, rapid convergence

CLC Number:

TP237

Pu ZHANG, Huifeng XUE, Shan GAO, Xuan ZUO. Distributed adaptive cooperative tracking control of multi-agent system with weak communication[J]. Systems Engineering and Electronics, 2021, 43(2): 487-498.

Figures/Tables 15

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智能体编号	(x₀, y₀)/m	(δ_ix, δ_iy)/m	(${\hat \theta } $_ix, ${\hat \theta } $_iy)
智能体#1	(1, 2)	(1, 3)	(3, 6)
智能体#2	(2, 1)	(1, 1)	(5, 2)
智能体#3	(3, 3)	(4, 3)	(4, 3)
智能体#4	(2, 5)	(4, 1)	(7, 1)
智能体#5	(4, 2)	(6, 2)	(10, 4)

方法	稳态误差/m	稳定时间/s
所提方法	0.62	7.1
SMC方法	2.32	16.3
ACM方法	1.61	13.1

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Distributed adaptive cooperative tracking control of multi-agent system with weak communication

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