Consensus And Output Tracking Control Of Multi-agent Systems With Disturbance

The system consists of multiple agents has some advantages of good flexibility,high reliability,and strong robustness than a single agent.Therefore,the cooperative control theory of multi-agent systems has always received extensive attention,and its research content mainly includes consensus,tracking,formation,swarming,cluster and so on.Among them,the consensus problem and tracking problem are the basic and hot issues of cooperative control research.In engineering practice,the working environment of multiagent systems is complex and always exists many unknown disturbances.Most of the existing literature is under the hypothetical ideal environment to control the system,which leads to the theoretical results being restricted largely in practical applications.To solve this problem,this thesis studies some consensus and output tracking control problems of multiagent system under unknown external disturbances.The main work and results of this thesis are as follows:(1)A consensus control protocol with disturbance compensation based on the state observer is designed to solve the consensus problem of leaderless multi-agent systems with unknown disturbances.Assuming that the state information of the agent cannot be obtained directly,according to the theory of active disturbance rejection control,a distributed extended state observer is designed for each agent.Using the estimated value of the state and the unknown disturbance of the agent,a consensus control protocol with disturbance compensation is designed.By the use of matrix theory,it is proved that the designed control protocol can keep the system stable under the influence of unknown disturbance and finally the state reaches a consensus.(2)The anti-disturbance compensation control algorithm based on state feedback is proposed to solve the output tracking problem of leader-follower homogeneous and heterogeneous multi-agent systems with unknown disturbances.Assuming that the state of all agents is not available directly,and an expanded state observer is designed for each follower by using its output information.A distributed synchronous reference signal estimator is designed by using the output information of the follower and its neighbors.The state feedback antidisturbance compensation controller is designed based on the obtained estimated value of state and disturbance,and synchronous reference signal.Then,the output tracking problem of homogeneous and heterogeneous multi-agent systems under the influence of unknown disturbance is solved.(3)The experimental verification on the simulation platform shows that the designed consensus protocol with disturbance compensation and the anti-disturbance compensation control algorithm based on state feedback can suppress disturbances effectively.The effectiveness of the proposed control scheme is verified.