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Containment control for heterogeneous multiagent systems with time delay via an output regulation approach


WEI Wenjun1,2， L Jiahui1， Huang Julong3， GE Junde1



（1. School of Automation and Electrical Engineering， Lanzhou Jiaotong University， Lanzhou 730070, China；2. Key Lab of OptiElectronic Technology and Intelligent Control of Ministry of Education，Lanzhou Jiaotong University， Lanzhou 730070, China； 3. China Energy Engineering Group Gansu Electric Power Design Institute Co., Ltd.， Lanzhou 730050, China）


Abstract： This paper presents the containment analysis and design of heterogeneous linear multiagent systems (MAS) with timedelay under the output regulation. The leaders are treated as exosystems and an modified output regulation error is designed, which can deal with more than one leader in containment control, then the containment problem will be turned into an output regulation problem. A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal, which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders. The system stability for timedelay containment is proved by the output regulation method instead of the Lyapunov method. Finally, a numerical example is given to illustrate the validity of the theoretical results.


Key words： heterogeneous multiagent systems； output regulation； linear timedelay systems； containment control


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输出调节下的时延异构多智能体系统包围控制



魏文军1,2， 吕家慧1， 黄巨龙3， 葛俊德1



（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 光电技术与智能控制教育部重点实验室， 甘肃 兰州 730070；3. 中国能源建设集团甘肃省电力设计院有限公司， 甘肃 兰州， 730050）


摘要:研究了在输出调节下的时延异构线性多智能体系统的包围控制。 将领导者视为外部系统， 并设计修改后的输出调节误差， 使之可以解决包围控制中超过一个领导者的情况， 然后将包围控制问题转换为输出调节问题。 当智能体无法获得外部系统信号时， 设计了一种分布式观测器， 其状态反馈控制律可以保证所有跟随者都能够收敛到领导者扩张成的凸包内。 提出了一种新的时延下的包围控制稳定性证明方法， 采用输出调节方法代替了通常的李雅普诺夫方法。 最后， 通过数值例子说明了理论结果的正确性。


关键词:异构多智能体系统； 输出调节； 线性时延系统； 包围控制


引用格式：WEI Wenjun， L Jiahui， HUANG Julong， et al． Containment control for heterogeneous multiagent systems with time delay via an output regulation approach． Journal of Measurement Science and Instrumentation， 2022， 13（1）： 7988. DOI： 10．3969／j．issn．16748042．2022．01．009


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