Multi-agent fully-distributed active disturbance rejection time-varying formation control method

Abstract

The invention discloses a multi-agent fully-distributed active disturbance rejection time-varying formation control method. The multi-agent fully-distributed active disturbance rejection time-varyingformation control method is based on a multi-agent system which is composed of N autonomous second-order isomorphic agents. The multi-agent fully-distributed active disturbance rejection time-varyingformation control method uses an active disturbance rejection control idea for reference, and comprises the steps of: firstly, constructing an active disturbance rejection time-varying formation controller and an action weight self-adaptive updating law based on a self-adaptive control and error feedback control strategy according to interaction weights and formation state errors of the agents; adopting an extended state observer to determine disturbance compensation; adopting a tracking differentiator to generate a time-varying formation instruction; further providing a completely distributedcontrol gain design method; and finally providing the multi-agent fully-distributed active disturbance rejection time-varying formation control method. The multi-agent fully-distributed active disturbance rejection time-varying formation control method realizes the effect of how to implement active disturbance rejection time-varying formation control on the multi-agent system affected by externaldisturbance in a completely distributed manner, so that the multi-agent system has disturbance suppression robustness while realizing time-varying formation.

Description

Technical field [0001] The invention belongs to the field of multi-agent system formation control, and specifically relates to a multi-agent fully distributed auto-disturbance time-varying formation control method. Background technique [0002] As a research hotspot in the field of collaborative control, multi-agent formation control has been widely studied and applied in social production and national defense and military, including multi-satellite networking, UAV group formation flying, multi-robot cooperative operation, and ship formation combat And military surveillance and detection. In applications such as the above, due to the complex task environment, the formation formation needs to be changed in real time, and it is required to switch between different formation formations when the mission objective changes. The traditional time-invariant formation control method only needs to change after formation. It can maintain a constant formation and cannot perform tasks that ch...

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Problems solved by technology

[0004] It is worth noting that most of the existing studies on multi-agent formation control methods require that the control criteria contain global information such as the action topology Laplacian matrix or its eigenvalues, that is, when controlling each agent, it needs Knowing the relationship information of the entire system prevents formation control from being realized in a fully distributed manner. When a multi-agent system contains a large number of agents, the increase in computational complexity will make formation control difficult to achieve

Judging from the existing research results at home and abroad, there is no research on the fully distributed active disturbance rejection time-varying formation control method of multi-agents

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