Ma Yong-Sheng, Xu Yong, Sun Jian, Dou Li-Hua
National Key Lab of Autonomous Intelligent Unmanned Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China.
ISA Trans. 2024 Nov;154:23-31. doi: 10.1016/j.isatra.2024.08.026. Epub 2024 Sep 3.
This paper presents a novel hierarchical control scheme for solving the data-driven optimal cooperative tracking control problem of heterogeneous multi-agent systems. Considering that followers cannot communicate with the leader, a prescribed-time fully distributed observer is devised to estimate the leader's state for each follower. Then, the data-driven decentralized controller is designed to ensure that the follower's output can track the leader's one. Compared with the existing results, the advantages of the designed distributed observer are that the prescribed convergence time is completely predetermined by the designer, and the design of the observer gain is independent of the global topology information. Besides, the advantages of the designed decentralized controller are that neither the follower's system model nor a known initial stabilizing control policy is required. Finally, simulation results exemplify the advantage of the proposed method.
本文提出了一种新颖的分层控制方案，用于解决异构多智能体系统的数据驱动最优协同跟踪控制问题。考虑到跟随者无法与领导者进行通信，设计了一种预设时间的全分布式观测器，用于为每个跟随者估计领导者的状态。然后，设计数据驱动的分散控制器，以确保跟随者的输出能够跟踪领导者的输出。与现有结果相比，所设计的分布式观测器的优点在于，预设收敛时间完全由设计者预先确定，并且观测器增益的设计与全局拓扑信息无关。此外，所设计的分散控制器的优点在于，既不需要跟随者的系统模型，也不需要已知的初始稳定控制策略。最后，仿真结果例证了所提方法的优点。
