基于经典理论的协作跟踪与干扰抑制技术

黄超; 何衍; 叶旭东

doi:10.3724/SP.J.1004.2011.00766

基于经典理论的协作跟踪与干扰抑制技术

doi: 10.3724/SP.J.1004.2011.00766

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出版历程
- 收稿日期: 2010-09-17
- 修回日期: 2011-03-01
- 刊出日期: 2011-06-20

Cooperative Tracking and Disturbance Suppression: A Classical Approach

摘要

摘要: 研究了当存在确定性干扰时, 多智能体系统的协作跟踪控制问题. 系统中个体之间的通信拓扑由时不变的有向图网络构成, 而每个个体的动态特性均由单输入单输出的线性系统描述. 本文将多智能体的分布式协调控制问题理解成并归结为输出调节问题来解决, 并由此提出了一种基于个体间相对输出反馈机制以及经典极点配置理论的分布式协作控制律. “内模原理”的使用也因此显得尤其重要. 此外, 为了分析所提出的控制律的稳定性, 本文还引入了复根轨迹的概念, 这是对经典根轨迹技术的推广, 它在本文中的有效应用显示了其潜在的应用价值.
- 多智能体系统 /
- 协作控制 /
- 复根轨迹 /
- 图论
Abstract: In this paper, the cooperative tracking problem of multiagent systems with a determinate disturbance input is analyzed. The communication topology of single-input-single-output (SISO) general linear node dynamics is directed and time invariant. Throughout this paper, the distributed control issue of multiagent systems is viewed and tackled as an output regulation problem and a distributed cooperative control law based on relative output measurements is proposed using classic pole assignment technique. Moreover, the notion of complex vector root locus (CVRL) is introduced, which is a generalization of classical root locus method, to analyze the stability of the control system.
- Multiagent systems /
- cooperative control /
- complex vector root locus (CVRL) /
- graph theory

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