基于动态增益非线性干扰观测器的多智能体系统协调跟踪和干扰抑制

This project will focus on the multi-agent systems with external disturbance generated by some nonlinear exosystems, and do some research on the problem of cooperative tracking and disturbance rejection of multi-agent systems with directed graph. It is noted that the traditional disturbance observer design can not asymptotically estimate this kind of disturbances since they are generated by some nonlinear exosystems. In order to achieve the goal of cooperative tracking and disturbance rejection, the dynamic gain technique will be adopted, and the nonlinear disturbance observer design based on dynamic gain that will be applicable to the general linear and nonlinear mulit-agent systems will be proposed. By using the nonlinear disturbance observer obtained and the strictly positive real lemma, the disturbance generated by nonlinear exosystems will be estimated asymptotically. Through analyzing the structures of coefficient matrices of the control input and disturbance of the multi-agent systems, and combining the properties of directed spanning tree, Lyapunov analysis and the theory of input to state stability, the distributed control protocol based on the nonlinear disturbance observer can be constructed. Finally, the conditions for achieving the cooperative tracking and disturbance rejection will be explored. The results obtained in this project will give some new ideas and theoretical foundations for the problem of cooperative tracking and disturbance rejection of multi-agent systems, and the multi-agent systems studied in this project are abstracted from the control system of unmanned helicopters, and has important theoretical and practical significance.

本项目针对由非线性外部系统产生干扰的多智能体系统，研究具有有向图的多智能体系统的协调跟踪和干扰抑制问题。由于外部干扰由非线性外部系统产生，传统的干扰观测器设计方法不能渐近估计这种干扰。为了达到协调跟踪和干扰抑制的目的，采用动态增益技术，建立适用于一般线性和非线性多智能体系统的非线性干扰观测器设计方案，结合严格正实引理，实现对这种外部干扰的渐近估计。通过分析多智能体系统的控制输入和干扰的系数矩阵的结构，利用有向生成树的性质、Lyapunov分析和输入到状态稳定性理论，构造基于非线性干扰观测器的分布式控制协议，探讨多智能体系统达到协调跟踪和干扰抑制需要满足的条件。本项目的研究结果可以为多智能体系统的协调跟踪和干扰抑制问题提供新的理论依据，所研究的多智能体系统是由无人直升机控制系统抽象提炼而出，所以本项目具有重要的理论意义和应用前景。

现实世界中，许多实际问题都可以用多智能体系统描述，这使得多智能体系统的理论研究及其应用成为复杂系统与控制科学领域的一个研究热点，其中多智能体系统的一致性问题是多智能体系统的理论研究中的核心问题之一。本项目主要针对多智能体系统的协调跟踪、趋同控制、包围控制和干扰抑制，以及协调式输出调节问题展开研究。首先，对一般线性多智能体系统的协调跟踪和干扰抑制，设计了基于动态增益的非线性干扰观测器和分布式控制；对线性多智能体系统的包围控制和干扰抑制, 给出了适用于包围控制的干扰观测器设计方案和分布式控制协议；假设领导者具有未知控制输入，给出了多智能体系统达到协调跟踪和干扰抑制的充分条件；其次，当外部干扰由线性外部系统产生时，研究了广义多自主体系统的容许一致性问题，给出适用于广义多自主体系统的干扰观测器和分布式控制设计；然后，当外部干扰由不确定外部系统产生时, 以及位置和速度传递信息图是异构的拓扑图时，针对二阶多智能体系统的协调跟踪和干扰抑制，设计了自适应干扰观测器和分布式控制；最后，针对异质多智能体系统的协调输出调节问题，设计了一种完全分布式自适应观测器，利用非线性系统的Passivity性质，分别提出了分布式状态反馈和分布式输出反馈控制协议。