基于观测器的混杂切换多智能体系统有界群一致性追踪

裴惠琴; 谭鉴恒; 肖红利; 梁炜森

doi:10.16383/j.aas.c250303

基于观测器的混杂切换多智能体系统有界群一致性追踪

doi: 10.16383/j.aas.c250303 cstr: 32138.14.j.aas.c

1.
华东交通大学电气与自动化工程学院南昌 330013

基金项目: 国家自然科学基金(62103145), 江西省自然科学基金(20242BAB25108)资助

详细信息

作者简介:
裴惠琴：华东交通大学电气与自动化工程学院副教授. 2017年获得华东交通大学控制科学与工程专业博士学位. 主要研究方向为群体动力学与协同控制, 多智能体系统. 本文通信作者. E-mail: peihuiqinnx@126.com

谭鉴恒：华东交通大学电气与自动化工程学院硕士研究生. 主要研究方向为混杂系统和多智能体系统分布式协同控制. E-mail: tjh96895@163.com

肖红利：华东交通大学电气与自动化工程学院硕士研究生. 主要研究方向为多智能体协同控制. E-mail: 15575508301@163.com

梁炜森：华东交通大学电气与自动化工程学院硕士研究生. 主要研究方向为多智能体协同控制和事件触发控制. E-mail: 2024028081100036@ecjtu.edu.cn

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- 被引次数: 0
出版历程
- 收稿日期: 2025-07-10
- 录用日期: 2025-12-19
- 网络出版日期: 2026-01-16

Observer-based bounded group consensus tracking for hybrid switched multi-agent systems

1.
School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013

Funds: Supported by National Natural Science Foundation of China (62103145) and Jiangxi Provincial Natural Science Foundation (20242BAB25108)

More Information

Author Bio:
PEI Hui-Qin　Associate professor at the School of Electrical and Automation Engineering, East China Jiaotong University. She received her Ph.D. degree in control science and engineering from East China Jiaotong University in 2017. Her research interests include swarm dynamics and cooperative control, and multi-agent sysems. Corresponding author of this paper

TAN Jian-Heng　Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. His research interests include hybrid systems and distributed control in multi-agent systems

XIAO Hong-Li　Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. Her main research interest is multi-agent cooperative control

LIANG Wei-Sen　Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. His research interests include multi-agent cooperative control and event-triggered control

摘要

摘要: 考虑脉冲作用下基于观测器二阶混杂切换多智能体系统的有界群一致性追踪问题, 建立一种在脉冲作用下的混杂切换多智能体系统动力学模型, 每个跟踪智能体只能够获取邻居智能体或者目标的位置信息. 然而, 每个跟踪智能体并不能获得邻居和目标的速度信息. 针对跟踪智能体在获取邻居和目标速度信息方面存在的限制, 设计一种基于目标加速度和智能体位置的状态观测器, 为跟踪智能体提供其子群目标的速度估计. 在此基础上, 提出一种在脉冲作用下基于目标速度观测器的有界群一致性追踪控制策略, 通过矩阵理论和Hurwitz稳定性判据, 证明了在该策略下系统可实现有界群一致性追踪. 仿真实例验证了所提出方法的有效性.
- 多智能体 /
- 脉冲作用 /
- 观测器 /
- 有界群一致性追踪
Abstract: This paper deals with the observer-based bounded group consensus tracking problem for second-order hybrid switched multi-agent systems under impulsive effects. A dynamic model for hybrid switched multi-agent systems under impulsive effects is established, where each tracking agent can only obtain the position information of neighboring agents or the target. However, each tracking agent can not access the velocity information of neighbors or the target. To address the limitation of tracking agents in acquiring velocity information from neighbors and the target, this paper designs a state observer based on target acceleration and agent positions, providing velocity estimates of the target for the tracking agent's subgroup. Building upon this, a bounded group consensus tracking control strategy based on target velocity observers under impulsive effects is proposed. Through matrix theory and Hurwitz stability criteria, it is proven that the system achieves bounded group consensus tracking under this strategy. A simulation example validates the effectiveness of the proposed method.
- multi-agent /
- impulsive effects /
- observer /
- bounded group consensus tracking

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图 1 结构拓扑图

Fig. 1 Structure topology diagram

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图 2 智能体位置轨迹变化

Fig. 2 Position trajectory change of the agents

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图 3 智能体速度轨迹变化

Fig. 3 Velocity trajectory change of the agents

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图 4 智能体的位置追踪误差变化

Fig. 4 Position tracking error variation of the agents

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图 5 智能体的速度追踪误差变化

Fig. 5 Velocity tracking error variation of the agents

下载: 全尺寸图片幻灯片

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