Wang Qing, Hua Yongzhao, Dong Xiwang, Shu Peixuan, Lu Jinhu, Ren Zhang
IEEE Trans Cybern. 2024 Apr;54(4):2460-2471. doi: 10.1109/TCYB.2023.3245139. Epub 2024 Mar 18.
The finite-time output time-varying formation tracking (TVFT) problem for heterogeneous nonlinear multiagent system (MAS) is investigated in this article, where the dynamics of the agents can be nonidentical, and leader's input is unknown. The target of this article is that the outputs of followers need to track leader's output and realize the desired formation in finite time. First, for removing the assumption that all agents are required to know the information of leader's system matrices and the upper boundary of its unknown control input in previous studies, a kind of finite-time observer is constructed by exploiting the neighboring information, which can estimate not only the leader's state and system matrices but also can compensate for the effects of unknown input. On the basis of the developed finite-time observers and adaptive output regulation method, a novel finite-time distributed output TVFT controller is proposed with the help of the technique of coordinate transformation by introducing an extra variable, which removes the assumption that the generalized inverse matrix of follows' input matrix needs to be found in the existing results. By means of the Lyapunov and finite-time stability theory, it is proven that the expected finite-time output TVFT can be realized by the considered heterogeneous nonlinear MASs within a finite time. Finally, simulation results demonstrate the efficacy of the proposed approach.
本文研究了异构非线性多智能体系统（MAS）的有限时间输出时变编队跟踪（TVFT）问题，其中智能体的动力学可能不同，且领导者的输入未知。本文的目标是使跟随者的输出跟踪领导者的输出，并在有限时间内实现期望的编队。首先，为了去除先前研究中要求所有智能体都知道领导者系统矩阵信息及其未知控制输入上界的假设，利用邻域信息构造了一种有限时间观测器，该观测器不仅可以估计领导者的状态和系统矩阵，还可以补偿未知输入的影响。基于所设计的有限时间观测器和自适应输出调节方法，借助坐标变换技术引入一个额外变量，提出了一种新颖的有限时间分布式输出TVFT控制器，该控制器去除了现有结果中需要求跟随者输入矩阵广义逆矩阵的假设。通过李雅普诺夫和有限时间稳定性理论，证明了所考虑的异构非线性MASs能够在有限时间内实现期望的有限时间输出TVFT。最后，仿真结果验证了所提方法的有效性。
