MA Yang-qin1, WEI Wen-jun1,2, AN Xin-lei3
（1. School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China；2. Rail Transit Electrical Automation Engineering Laboratory of Gansu Province, Lanzhou Jiaotong University, Lanzhou 730070, China；3. School of Mathematics and Physics, Lanzhou Jiaotong University, Lanzhou 730070, China）
Abstract： The cooperative output tracking problem of multi-agent systems in finite time is considered. In order to enable the agents to quickly track and converge to external system within a finite time, a novel distributed output feedback control strategy based on the finite-time state observer is designed. This distributed finite-time observer can not only solve cooperative output tracking problems when the agents can not get external system signal, but also make the systems have a faster convergence and a good robustness. The stability of the system in finite time is proved based on Lyapunov function. Numerical simulations results have been provided to demonstrate the effectiveness of the proposed protocol.
Key words： multi-agent systems； finite time observer； cooperative output tracking； distributed output feedback control
CLD number： TP273 Document code： A
Article ID： 1674-8042（2019）02-0134-09 doi： 10.3969/j.issn.1674-8042.2019.02.005
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多智能体系统在有限时间内的协同输出跟踪
马羊琴1, 魏文军1,2, 安新磊3
（1. 兰州交通大学 自动化与电气工程学院, 甘肃 兰州 730070；2. 兰州交通大学 甘肃省轨道交通电气自动化工程实验室， 甘肃 兰州 730070；3. 兰州交通大学 数理学院, 甘肃 兰州 730070）
摘要： 研究了有限时间内多智能体系统的输出追踪问题。 为了使智能体能够在有限时间内快速跟踪并收敛到外部系统， 设计了一种基于有限时间状态观测器的新型分布式输出反馈控制策略。 该分布式有限时间观测器不仅可以在智能体无法获得外部系统信号的情况下解决协同输出跟踪问题， 而且可以使系统获得较快的收敛性和良好的鲁棒性。 最后， 基于Lyapunov函数证明了该系统在有限时间内的稳定性且提供了数值仿真实验， 证明了该算法和协议的有效性。
关键词： 多智能体系统; 有限时间观测器; 协同输出追踪; 分布式输出反馈控制
引用格式：MA Yang-qin, WEI Wen-jun, AN Xin-lei. Cooperative output tracking of multi-agent systems under finite time. Journal of Measurement Science and Instrumentation, 2019, 10（2）： 134-142. ［doi： 10.3969／j.issn.1674-8042.2019.02.005］
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