Abstract
To solve the synchronization and tracking problems, a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output (MIMO) nonlinear multi-agent systems (MASs) subjected to uncertainties and external disturbances. First, coupled relationships among Laplace matrix, leader-following adjacency matrix and consensus error are analyzed based on undirected graph. Furthermore, nonlinear disturbance observers (NDOs) are designed to estimate compounded disturbances in MASs, and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach. Finally, the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.
摘要
对一类具有不确定性和外部动态干扰的高阶多输入多输出(multi-input and multi-output, MIMO)非线性多智能体系统(multi-agent systems, MASs), 研究了协同控制策略以解决MASs的同步跟踪问题. 首先, 分析了无向通讯拓扑下Laplace矩阵、 领导跟随邻接矩阵和MASs一致性误差之间的耦合关系; 其次, 设计非线性干扰观测器(nonlinear disturbance observers, NDOs)在线估计MASs中的未知复合扰动, 并基于NDO输出和动态面控制为高阶MIMO非线性MASs设计了分布式协同抗干扰控制协议; 最后, 基于Lyapunov稳定理论和仿真试验证明所设计控制策略的可行性和有效性.
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Foundation item: the National Natural Science Foundation of China (No. 61963029), and the Jiangxi Provincial Natural Science Foundation (Nos. 20224BAB202027 and 20232ACB202007)
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Jin, F., Chen, L., Li, T. et al. Distributed Cooperative Anti-Disturbance Control for High-Order MIMO Nonlinear Multi-Agent Systems. J. Shanghai Jiaotong Univ. (Sci.) 29, 656–666 (2024). https://doi.org/10.1007/s12204-023-2673-0
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DOI: https://doi.org/10.1007/s12204-023-2673-0
Keywords
- nonlinear disturbance observer (NDO)
- higher-order multi-input and multi-output (MIMO) system
- multi-agent system
- cooperative control
- disturbance suppression