Research On Output Feedback Tracking Control Of Heterogeneous Distributed Multiple Simple-pendulum Network Systems

Multi-agent system is a complex large-scale network system composed of a large number of distributed and local single agents with information interaction.It is of great practical value to study such a huge network system in real life.At present,tracking control problem as a basic problem of multi-agent system coordination control has been applied to aviation,biology,medical,military and other fields.In practical application,due to the influence of external environment,technical constraints and other factors,there are differences between agents,that is,each agent can be represented by different state space expressions.Such a system is called heterogeneous multi-agent system.In this paper,the heterogeneous multi-agent network system is taken as the actual research object.When the system state cannot be measured,the consistency of static output feedback and dynamic output feedback is solved respectively.According to the measured output as feedback information,three new tracking control strategies are designed,and the sufficient conditions for the output consistency of the heterogeneous multi-agent network system are obtained.The main work of this paper is as follows:1.The dynamic nonlinear model of heterogeneous distributed multiple simplependulum network system is established,and its weak nonlinear term is linearized to obtain linear time invariant system.It also introduces the algebraic graph theory matrix analysis stability theory and other related mathematical methods and principles of system consistency analysis.2.A distributed coordinated tracking control protocol based on static output feedback is designed for a heterogeneous linear multiple simple-pendulum network system with one leader and multiple followers by using multi-agent neighborhood interaction rules and output feedback technology.The iterative algorithm is designed to calculate the static output feedback control gain matrix to achieve the control goal that the follower output can effectively track the leader output and ensure the stable operation of the whole system.3.The problem of distributed output feedback coordinated tracking control under adaptive control mechanism is studied.An output feedback coordinated tracking control law based on adaptive control is proposed,which does not depend on the global information of the communication topology.In order to improve the degree of freedom of design,the relative output feedback gain matrix is designed by using iterative algorithm instead of choosing this matrix,and then a sufficient condition for the asymptotic stability of the closed-loop system is obtained.4.It is further considered that it is difficult or even impossible to measure the state information such as the angular displacement and angular velocity of the heterogeneous multiple simple-pendulum network system and the armature current of the required DC motor,but it is necessary to estimate the state information in practice,a tracking control protocol with local observer is established for each simple-pendulum,and the adaptive controller and observer gain matrix are designed cooperatively.At the same time,the consistency tracking condition of heterogeneous multiple simple-pendulum network system is obtained.Finally,the feasibility and effectiveness of the proposed method are proved by combining the theoretical method with simulation.