论文标题
基于观察者的非线性多代理系统的协调跟踪控制，并在异质耦合框架下进行间歇性通信
Observer-Based Coordinated Tracking Control for Nonlinear Multi-Agent Systems with Intermittent Communication under Heterogeneous Coupling Framework
论文作者
论文摘要
在本文中，在动态切换拓扑结构下研究了基于观察者的协调跟踪控制问题，该类别的非线性多机构系统（质量）具有间歇性通信和信息约束。首先，一个国家观察者旨在估计系统中无法衡量的实际状态信息。其次，在动态开关拓扑中引入了可调节的异质耦合加权参数，并提出了异质耦合框架下的分布式协调跟踪控制协议。然后，建立了一个新的引理，以实现观察者增益，国家反馈增益和异质耦合增益矩阵的合作设计。此外，进一步证明了系统的稳定性，并获得了通信率的范围。在此基础上，间歇性通信模式扩展到三个时间间隔案例，即正常的通信，跟随者通信中断和所有代理通信中断，然后改进了分布式协调的跟踪控制方法以解决此问题。最后，使用非线性质量进行仿真实验，以验证方法的正确性。
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a state observer is designed to estimate the unmeasurable actual state information in the system. Second, adjustable heterogeneous coupling weighting parameters are introduced in the dynamic switching topology, and the distributed coordinated tracking control protocol under heterogeneous coupling framework is proposed. Then, a new Lemma is constructed to realize the cooperative design of observer gain, state feedback gain and heterogeneous coupling gain matrices. Furthermore, the stability of the system is further proved, and the range of communication rate is obtained. On this basis, the intermittent communication mode is extended to three time interval cases, namely normal communication, leader-follower communication interruption and all agents communication interruption, and then the distributed coordinated tracking control method is improved to solve this problem. Finally, simulation experiments are conducted with nonlinear MASs to verify the correctness of methods.
