切换拓扑下混合相对阶异构多智能体系统自适应扰动抑制设计

文利燕; 刘宇; 姜斌; 马亚杰; 崔玉康

doi:10.16383/j.aas.c250180

切换拓扑下混合相对阶异构多智能体系统自适应扰动抑制设计

doi: 10.16383/j.aas.c250180 cstr: 32138.14.j.aas.c250180

文利燕^1,,
刘宇^1,,
姜斌^1,,
马亚杰^1,,
崔玉康^1,

1.
南京航空航天大学自动化学院南京 211106

基金项目: 国家自然科学基金(62173179, 62188101), 江苏省前沿引领技术基础研究重大项目(BK20222012), 江苏省自然科学基金重点项目(BK20243045)资助

详细信息

作者简介:
文利燕：南京航空航天大学副教授. 主要研究方向为自适应控制、故障诊断与容错控制及其应用. E-mail: wenliyan_2019@nuaa.edu.cn

刘宇：南京航空航天大学自动化学院硕士研究生. 主要研究方向自适应控制及应用. E-mail: liuyu232130@nuaa.edu.cn

姜斌：南京航空航天大学自动化学院教授. 主要研究方向为故障诊断与容错控制及应用. 本文通信作者.E-mail: binjiang@nuaa.edu.cn

马亚杰：南京航空航天大学自动化学院教授. 主要研究方向为故障诊断与容错控制及应用. E-mail: yajiema@nuaa.edu.cn

崔玉康：南京航空航天大学自动化学院硕士研究生. 主要研究方向自适应控制及应用. E-mail: kangkang@nuaa.edu.cn

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出版历程
- 收稿日期: 2025-04-27
- 录用日期: 2025-08-27
- 网络出版日期: 2025-12-16

Adaptive Disturbance Rejection for Mixed Relative Degree Heterogeneous Multi-agent Systems With Switching Topology

WEN Li-Yan^1
,,
LIU Yu^1
,,
JIANG Bin^1
,,
MA Ya-Jie^1
,,
CUI Yu-Kang^1
,

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106

Funds: Supported by Nation Natural Science Foundations of China (62173179, 62188101), Natural Science Foundations of Jiangsu Province of China (BK20222012), Natural Science Foundations of Jiangsu Province of China (BK20243045)

More Information

Author Bio:
Wen Li-Yan　Associate Professor, College of Automation Engineering in Nanjing University of Aeronautics and Astronautics. Her research interest covers adaptive control, adaptive fault isolation and fault tolerant control and their applications

Liu Yu　Master student, College of Automation Engineering in Nanjing University of Aeronautics and Astronautics. His research interest covers adaptive control and its application

Jiang Bin　Professor, College of Automation Engineering in Nanjing University of Aeronautics and Astronautics.. His research interest covers fault diagnosis and fault tolerant control and their applications. Corresponding author of this paper

Ma Yajie　Professor, College of Automation Engineering in Nanjing University of Aeronautics and Astronautics. His research interest covers fault diagnosis and fault tolerant control and their applications

Cui Yukang　Master student, College of Automation Engineering in Nanjing University of Aeronautics and Astronautics. His research interest covers adaptive control and its application

摘要

摘要: 针对不确定扰动下具有混合相对阶的异构多智能体系统, 提出一种新的分布式自适应扰动抑制控制方法, 实现了切换拓扑下领导者-跟随者输出一致性. 首先, 通过引入局部输出一致性的概念, 将领导者-跟随者全局输出一致性问题转化为相邻智能体局部输出一致性问题; 然后, 针对系统参数和扰动已知的情况, 基于智能体系统控制-扰动相对阶匹配条件, 提出一种基于高阶微分邻居信息的布式标称扰动抑制控制器; 基于此, 针对因混合相对阶差异而导致控制器中的高阶微分邻居信号难以直接获取的问题, 提出基于高阶滑模微分器的精确估计方法, 突破了传统控制设计对系统相对阶一致性的依赖, 解决了固定/切换拓扑下局部-全局输出一致性; 进而, 针对系统参数和扰动不确定的情况, 进行分布式自适应扰动抑制控制器设计, 实现切换拓扑下的领导者-跟随者输出一致性以及期望的扰动补偿. 所设计的控制方法不仅能够在不依赖全局智能体信息及领导者信息的前提下, 确保整个智能体系统的闭环稳定性、实现跟随者对领导者的输出跟踪, 并达到期望的扰动抑制效果. 与常规的自适应一致性控制方案相比, 还具备处理具有混合相对阶特性的异构多智能体系统的能力. 最后, 仿真研究验证所设计控制方案的有效性.
- 异构多智能体系统 /
- 输出一致性 /
- 自适应控制 /
- 切换拓扑 /
- 扰动抑制 /
- 混合相对阶
Abstract: A novel distributed adaptive disturbance rejection control scheme is developed for heterogeneous multi-agent systems with mixed relative degree and disturbance to achieve leader-follower output consensus under switching topology. First, a local output tracking error is introduced to transform the global leader-follower output consensus problem into a local output consensus problem between neighboring agents. Then, assuming known system parameters and disturbances, a distributed nominal high-order differential neighbor-sharing information based disturbance rejection controller is designed, based the agent system control-disturbance relative degree matching condition. Based on this, a high-order sliding mode differentiator based precise estimation method is proposed to address the problem of difficulty in directly obtaining high-order differential neighbor-sharing signals in controllers due to mixed relative order differences. This method breaks through the traditional control design's dependence on system relative order consistency and solves the problem of local-global output consistency in fixed/switching topologies. Furthermore, for the case where the system parameters and disturbances are uncertain, a distributed adaptive disturbance rejection controller is designed to achieve desired disturbance compensation and leader-follower output consensus under switching topology. The proposed control method can not only ensure closed-loop stability, leader-follower output consensus, and disturbance rejection without relying on global agent or leader information; compared with conventional adaptive control schemes, it also has the ability to handle the mixed relative order characteristics of heterogeneous multi-agent systems. Finally, the effectiveness of the proposed control scheme is verified through simulations.
- heterogeneous multi-agent systems /
- output consensus /
- adaptive control /
- switching topology /
- disturbance rejection /
注释:

1) 1^①式(3)是一种混合域表示形式, 这是在自适应控制中常见的系统表达方式^[41].

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图 1 通信拓扑结构示意图

Fig. 1 Communication topology

下载: 全尺寸图片幻灯片

图 2 领导者−跟随者系统输出信号

Fig. 2 Output signals of leader-follower system

下载: 全尺寸图片幻灯片

图 5 领导者与跟随者的输出跟踪误差

Fig. 5 Output tracking errors of leader-follower system

下载: 全尺寸图片幻灯片

图 3 跟随者系统控制输入信号

Fig. 3 Control input signals of the follower system

下载: 全尺寸图片幻灯片

图 4 跟随者局部输出跟踪误差信号

Fig. 4 Local output tracking errors of the follower system

下载: 全尺寸图片幻灯片

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