Cooperative Control Of Mult-Agent System With External Interference

The problem of consensus tracking and containment control of multi-agent systems is one of the basic issues of cooperative control research of multi-agent systems,which has important scientific significance.Because exogenous disturbances is unavoidable in practical applications,this paper considers the effects of exogenous disturbances on linear multi-agent systems based on previous studies.At the same time,in order to ensure that mult-agent systems complete various tasks,based on the research of homogeneous multi-agent system,the heterogeneous linear multi-agent system is studied,and the adaptive distributed controller is used to make the controller independent of obtaining the global information on the communication topology graph,which overcomes the difficulty of the controller requiring global information and give the numerical simulation examples according to the content of this paper.The cooperative control of the multi-agent system studied in this paper is mainly divided into two aspects.On the one hand,the problem of containment of exogenous disturbances under the condition that the homogeneous multi-agent system based on state feedback on the directional information transfers from the followers and the leaders have a bounded input is studied.A linear disturbance observer is designed for the linear exogenous disturbances system,and a distributed containment control protocol is proposed.The system stability analysis is performed by constructing Lyapunov function and stability theorems to solve the multi-agent systems with exogenous disturbances.The necessary and sufficient conditions for solving the containment problem of multi-agent systems with exogenous disturbances are obtained.Finally,MATLAB is used to give a simulation example to verify the accuracy of the theoretical calculation results.On the other hand,based on this,the problem of cooperative output regulation of heterogeneous multi-agent system based on output feedback under fully distributed observer control protocol is studied.Aiming at the output regulation problem of singular multi-agent systems,an adaptive distributed singular output feedback controller and a normal output feedback controller are proposed,which make the final tracking errors of the followers gradually stabilize at zero,which the cooperative output regulation of the singular linear multi-agent systems problem in this paper is solved.Finally,MATLAB is used to give a simulation example to prove the accuracy of the theorem.