Research On Anti-Interference And Quantitative Cooperative Control Of Multi-Agent System Based On Observer

In recent years,multi-agent system has been widely used in the control field,such as industrial control,traffic control,intelligent robot control,computer network control,distributed control,UAV formation control,software system,electronic commerce and so on.There must be a lot of external interference and communication constraints,such as external interference signal,noise,output saturation limit and quantization phenomenon in the process of information transmission.Therefore,it is of practical significance and economic value to study anti-interference and communication constraints of multi-agent systems.Specifically,the information interaction between agents and agents will be affected by various practical problems,such as exogenous disturbance in exogenous disturbance system,quantitative effect of information transmission between agents,and output saturation limitation.In the actual work,the system is inevitably affected by exogenous disturbance,which interferes with the normal operation of the agent and affects the stability of the system.The information transmission between agents is inevitably saturated due to the limitation of their own devices,and the communication process is inevitably affected by the quantization effect.In order to make the multi-agent system have higher precision,stronger execution,stronger anti-interference and more stable system,interference and communication constraint problems such as exogenous disturbance,output saturation and quantization are introduced to design corresponding protocols and finally achieve the cooperative control of the multi-agent system.The main contents include:In order to solve the problem of uniform output saturation ratio for multi-agent systems with exogenous disturbances,a new nonlinear protocol is proposed.By designing a disturbance observer to attenuate exogenous disturbances,the states of all agents are proportional to each other.In addition,a sufficient condition for a multi-agent system to achieve uniform output saturation ratio under external disturbance is obtained by using integral Lyapunov function and directed strong connection graph.Aiming at the inclusion control problem of heterogeneous multi-agent systems,an output inclusion error term is designed to ensure that all followers can converge to the region composed of leaders.For the problem that the leader information cannot be obtained by the follower,an adaptive quantitative information observer is designed to collect the leader information and transmit it to the follower.Then a state observer is designed to observe the follower's state and the inclusion problem is solved by output feedback.A distributed error term is designed to ensure that the followers converge to the convex hull surrounded by the leader and the rest of the followers converge to the symmetric convex hull for the double inclusion control of multi-agent systems with quantitative information.The leader can be viewed as an external system,so there is no transmission of information between the leader and the follower.The follower's state is estimated by the state observer,the leader matrix and state information is estimated by the adaptive distributed quantization information observer,and the bilateral inclusion problem is solved by output feedback.