Design method and device for high-order nonlinear heterogeneous multi-agent consistency controller

Abstract

The invention relates to a high-order nonlinear heterogeneous multi-agent consistency controller design method and equipment, and the method comprises the following steps: constructing a general kinetic equation of a nonlinear heterogeneous multi-agent system which comprises a leader and N followers, the leader and the followers as well as the different followers communicate according to a certain communication graph; designing a distributed adaptive adjustment observer; and a pure distributed controller and the distributed adaptive adjustment observer are combined to construct a distributed controller, so that the solution of the multi-agent system exists and meets the requirements in the prior art. According to the method, the problem of communication obstacle among the nonlinear heterogeneous multi-agents and the problem that direct operation cannot be carried out due to the fact that dimensions of a leader system and a follower system are inconsistent can be solved, and important technical support is provided for consistency control of the high-order nonlinear heterogeneous multi-agents.

Description

technical field [0001] The invention belongs to the field of distributed control, and in particular relates to a high-order nonlinear heterogeneous multi-agent consensus controller design method and equipment. Background technique [0002] The research significance of multi-agent system control is that the controller must satisfy the communication constraints. A controller that satisfies the communication constraints is called a distributed controller. Distributed observer is a key technology for designing distributed controllers. It is a distributed dynamic compensator that uses self and neighbor information to model and can provide each follower with an estimate of the leader signal. [0003] In "The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems" (Cai He et al. Automatica 75(2017): 299-305), an adaptive distributed observer is proposed for linear multi-agents , the observer requires the follower of the leader’s ...

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Problems solved by technology

[0003] In "The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems" (Cai He et al. Automatica 75(2017): 299-305), an adaptive distributed observer is proposed for linear multi-agents , the observer requires the follower of the leader’s neighbor node to know the leader’s system matrix, the key parameter of the observer’s gain needs to be obtained through complex offline calculations, and when the leader’s system is not generated by the system matrix, the Observer will not be available

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