Lu Yanrong, Xu Zhengguang, Li Li, Zhang Jie, Chen Wei
College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China.
ISA Trans. 2023 Feb;133:102-115. doi: 10.1016/j.isatra.2022.07.013. Epub 2022 Jul 19.
The distributed formation tracking with preview information is investigated for discrete-time heterogeneous linear multi-agent systems (MASs) over directed communication networks. Firstly, by constructing an augmented system containing virtual regulation output and previewable information, the original problem is converted into a state regulation problem. Secondly, due to the coupling restriction of the eigenvalues of the exosystem matrix and the communication topology matrix, a linear distributed observer is proposed by introducing two extra parameters to realize asymptotic estimation. Using the output information of the observer, the problem was further formulated in the form of feedforward output regulation. Moreover, by solving the output regulation problem, the sufficient conditions are deduced for ensuring the achievement of the formation preview tracking. Meanwhile, numerical simulations show that the distributed design with preview actions has positive effect on the improvement of the transient response.
针对有向通信网络上的离散时间异构线性多智能体系统（MASs），研究了具有预览信息的分布式编队跟踪问题。首先，通过构建一个包含虚拟调节输出和可预览信息的增广系统，将原问题转化为状态调节问题。其次，由于外系统矩阵和通信拓扑矩阵特征值的耦合限制，通过引入两个额外参数提出了一种线性分布式观测器以实现渐近估计。利用观测器的输出信息，将问题进一步表述为前馈输出调节形式。此外，通过求解输出调节问题，推导出确保实现编队预览跟踪的充分条件。同时，数值仿真表明具有预览动作的分布式设计对改善瞬态响应有积极作用。
