A 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 system based on the method is composed of N autonomous second-order isomorphic agents. Firstly, according to the agent interaction weight and formation state error, based on the adaptive control and error feedback control strategy, the ADRC time-varying formation controller and the action weight adaptive update law are constructed, and the extended state observer is used to determine the disturbance compensation. A tracking differentiator is used to generate time-varying formation instructions, and then a fully distributed control gain design method is given. Finally, a multi-agent fully distributed active disturbance rejection time-varying formation control method is given. The invention realizes how to implement the time-varying formation control for the multi-agent system affected by the external disturbance in a fully distributed manner, so that the system has the robustness of disturbance suppression while realizing the time-varying formation.

Description

technical field [0001] The invention belongs to the field of multi-agent system formation control, and in particular relates to a multi-agent fully distributed active disturbance rejection 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 affairs, including multi-satellite networking, UAV formation flight, multi-robot collaborative operation, and ship formation combat. and military surveillance. In applications such as the above, due to the complex task environment, the formation formation needs to change in real time, and it is required to switch between different formation formations when the mission target changes. The traditional time-invariant formation control means only It can maintain a constant formation and cannot perform real-time changing tasks. It is necessary to ...

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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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