Observer-based Consensus Control For Networked Systems

In recent years,the distributed coordinated control of multi-agent systems has become a research hotspot in the control field.Since the cooperative work of multi-agent can accomplish some complex tasks which can not be completed by a single agent,and can improve the robustness and adaptability of the system in complex environment,it has been widely used in many aspects(such as robot formation and unmanned aerial vehicle).As the basis of distributed collaborative control,the consensus problem has been widely concerned by researchers in different fields.There are two main problems in the existing multi-agent system consensus control theory: one is that the designed consensus control algorithm is conservative;the other is that the research mainly focuses on the linear system,and the research on the nonlinear dynamic self-agent is little.These two problems withhold the engineering application of the consensus theory of multi-agent system.Based on the existed research results,this paper extends the general form of Luenberger observer to a more general form around two problems,reducing the conservatism of algorithm design.This paper also studies the consensus control of multi-agent and its application in MAS(Multi-agent systems)under the nonlinear constraints of increasing quadratic constraints.Specifically,the main contents of this paper are as follows:1)Combined with the observer,the problem of nonnegative connected edge consensus in complex networks is studied.With the help of the positive system theory,the nonnegativity of the edge states in the network is proved.According to Lyapunov's stability theory,the convergence of the states of edge is proved.We also extend the general form of Luenberger observer,and further extend the degree of freedom in the algorithm design.2)The nonnegative connected edge consensus problem under undirected topology is extended to the directed topology,and the positive connected edge consensus problem of general linear multi-agent under the directed topology is studied.Based on the properties of Metzler and Hurwitz matrices,the sufficient conditions for a linear networked system to achieve nonnegative edge consensus can be obtained.As a special case,the necessary and sufficient conditions are also given for a general linear system to achieve nonnegative edge consensus based on the Luenberger observer.3)The observer design of the nonlinear system and the consensus control protocol based on the incremental quadratic constraints of the nonlinear system are studied by introducing the incremental quadratic constraints condition.At the same time,the simulations of the consensus control protocol in the multi unmanned vehicle and multi mechanical arm are discussed.4)Based on MATLAB platform,the consensus algorithm is simulated.The dynamic consensus control system of the undirected network,the dynamic consensus control system of the directed network as well as the consensus algorithm of the observer based on incremental quadratic constraints nonlinear systems are simulated respectively.The simulation results show the validity of the proposed algorithm.