Time-varying output group formation-containment tracking control for heterogeneous multi-agent system

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control Pub Date : 2024-07-14 DOI:10.1002/asjc.3456

Nani Han, Keer Zhang, Li Zhao

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Abstract

The time-varying output group formation-containment tracking (TVOGFCT) problem of discrete-time heterogeneous multi-agent system (MAS) is investigated in this paper. Assuming the MAS consists of multiple tracking leaders, formation leaders, and followers, and all the agents are divided into several groups. Firstly, to estimate the convex combination of tracking leaders in the same group, the distributed observers are designed for the formation leaders, and the observer-based formation tracking protocols are also presented to make formation leaders realize the desired time-varying group formation while tracking the convex combination of tracking leaders. Then, two types of observers are proposed to estimate the convex combination of tracking information and formation functions, based on which the containment tracking protocols are designed for the followers of each group. By using output regulation theory and Lyapunov theory, it is illustrated that the designed protocols can make the MAS realize TVOGFCT. Finally, the simulation results prove the correctness of the theoretical analysis.

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异构多代理系统的时变输出组形成--遏制跟踪控制

本文研究了离散时间异构多代理系统（MAS）的时变输出组形成-控制跟踪（TVOGFCT）问题。假设多代理系统由多个跟踪领导者、编队领导者和跟随者组成，且所有代理都被分为若干组。首先，为了估计同一组中跟踪领导者的凸组合，为编队领导者设计了分布式观测器，并提出了基于观测器的编队跟踪协议，使编队领导者在跟踪跟踪领导者凸组合的同时，实现所需的时变编队。然后，提出了两类观测器来估计跟踪信息和编队函数的凸组合，并在此基础上为每个编队的跟随者设计了包含跟踪协议。利用输出调节理论和李亚普诺夫理论，说明了所设计的协议可以使 MAS 实现 TVOGFCT。最后，仿真结果证明了理论分析的正确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Asian Journal of Control 工程技术-自动化与控制系统

CiteScore

4.80

自引率

25.00%

发文量

253

审稿时长

7.2 months

期刊介绍： The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application. Published six times a year, the Journal aims to be a key platform for control communities throughout the world. The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive. Topics include: The theory and design of control systems and components, encompassing: Robust and distributed control using geometric, optimal, stochastic and nonlinear methods Game theory and state estimation Adaptive control, including neural networks, learning, parameter estimation and system fault detection Artificial intelligence, fuzzy and expert systems Hierarchical and man-machine systems All parts of systems engineering which consider the reliability of components and systems Emerging application areas, such as: Robotics Mechatronics Computers for computer-aided design, manufacturing, and control of various industrial processes Space vehicles and aircraft, ships, and traffic Biomedical systems National economies Power systems Agriculture Natural resources.