Disturbance Observer Based Control of Heterogenous Multi-Agent Systems
In this paper, the consensus is studied for the heterogenous multi-agent systems with exogenous disturbances. The multi-agent systems are composed of two class different agents, one parts are supposed to moving on the double integrator dynamics, the other parts are driven by the single integrator dynamics. A pinning control strategy is designed for a part of agents of the systems, and this pinning control can bring the states of multi-agent systems to an expected consensus track. Based on the Hermite-Biehler theorem, asymptotical consensus of the heterogenous multi-agent systems are achieved for unsymmetrical topologies and symmetrical topologies. By applying the disturbance observer based control (DOBC), sufficient consensus criteria of the heterogenous multi-agent systems with exogenous disturbances are presented for with fixed topologies and switching topologies. Finally, by introducing an example of multi-agent systems with switching topologies and exogenous disturbances, the consensus of multi-agent systems is achieved under the DOBC with the designed parameters.
Heterogenous multi-agent systems Exogenous disturbances Disturbance observers based control Consensus
Yang Hong-yong Guo Lei Xu Bang-hai
School of Information Science and Engineering, Ludong University, Yantai 264025, P. R. China Nationa National Key Laboratory on Aircraft Control Technology, Beihang University, Beijing 100191, P. R. Ch School of Information Science and Engineering, Ludong University, Yantai 264025, P. R. China
国内会议
厦门
英文
1-10
2012-08-01（万方平台首次上网日期，不代表论文的发表时间）