Research On Adaptive Consensus Tracking Control For Several Classes Of Heterogeneous Multi-agent Systems

In recent years,with the development of technology and the increase of demand,the cooperative control of multi-agent systems has become one of the most popular research directions in the world.As the basic of the cooperative control,the consensus control occupies a crucial position.An excellent consensus control strategy should have the ability to respond to the environmental change or sudden situations,while the adaptive approach has a clear advantage when dealing with such issues.Therefore,the study on adaptive consensus tracking control of multi-agent system has great practical significance.The consensus tracking control of multi-agent system involves complex and diverse issues such as system complexity,communication topology,external disturbance,transmission delays,the leader and so on.This thesis focus on the several classes of heterogeneous multi-agent systems,carry out adaptive consensus tracking control research,aims to explore the fully distributed adaptive consensus tracking control scheme can overcome uncertainties and external disturbances under the varying topology.In order to achieve this goal,the specific research content as follows:(1)An observer-based adaptive output feedback consensus tracking control scheme is proposed for the heterogeneous linear multi-agent system with uncertainties.The communication state of the system is represented by a directed topology,and only part of the subsystems can access the reference trajectory directly.The proposed scheme can achieve fully distributed control,ensuring that all signals in the closed-loop system are globally uniform and bounded and that the outputs of all subsystems can track the reference trajectory.The numerical simulation results show the good output tracking performance of the proposed controller.(2)Based on Lyapunov stability theory,a distributed adaptive output-feedback consensus tracking control scheme is proposed for the unknown heterogeneous linear multi-agent system with external disturbances.To ensure the stability of the system,the effects of unmeasured states and the external disturbances are counteracted by introducing the auxiliary signals.The proposed scheme is verified by simulation,and the simulation results show that the designed controller can ensure all subsystems' outputs track the reference trajectory.(3)For the linear multi-agent system with a leader,a labeling rule is firstly proposed to judge if the communication topology satisfies the conditions of the jointly connected.Then,under the jointly connected topology,based on Lyapunov stability theory,a fully distributed consensus tracking control scheme is proposed.(4)Aiming at the uncertain heterogeneous multi-robot system described by the fully driven Euler-Lagrange,a distributed adaptive consensus tracking control scheme based on state feedback is proposed.In case that the global communication is unknown,the stability of the closed loop is ensured by carefully choosing the Lyapunov function.The multi-robot system composed of ten manipulators is simulated,and the results show that the designed controller can overcome the uncertainty and has the great robustness.