Cooperative Target Tracking Of Heterogeneous Multi-Agent System

The heterogeneous multi-agent cooperative target relay tracking system is investigated in this thesis.Unlike homogeneous systems,there are differences in the types of agents in heterogeneous systems,so both the dynamic model and the consensus algorithm need to be revised.The dynamic model can reflect the difference of the state space matrix of the agents,and the consensus algorithm not requires all agents to achieve state consensus,but output consensus,which is the difference between heterogeneous systems and homogeneous systems.Considering that the agent may fail during the working process of the system,it is undoubtedly an efficient solution to replace the damaged agent with a new one,but there are also new problems to be solved.The state space matrix of new agents may be different from the damaged agent.In addition,due to the switching of agents,the tracking error of the system will jump,and the system may also be unstable.Therefore,it is necessary to constrain the error parameters and limit the switching frequency of the agent to ensure the stability of the system.The heterogeneous cooperative tracking system tracks the target,so the actual background set is that the target is an invading object,and the dynamic matrix of the target cannot be known by all agents.The tracking agent of the system cannot obtain the dynamic matrix of the target,so it is necessary to design a target observer for the tracking agent to estimate the dynamic matrix of the target.A consensus algorithm based on target observer is designed to solve the heterogeneous multi-agent cooperative tracking problem where only some agents can obtain target dynamics.The main contributions of the thesis are as follows:(1)Based on graph theory and other related theories,the output consensus of heterogeneous multi-agent systems is studied,and an output consensus control algorithm is designed to solve the output regulation problem of linear heterogeneous multi-agent systems.The Lyapunov exponential stability theory is introduced,and the exponential convergence rate α of the heterogeneous system is obtained to adjust the convergence rate of the system.The simulation results prove the effectiveness of the consensus control algorithm.(2)Considering that the agent failure may occur in the practical application of the heterogeneous multi-agent system,the agent around the target is used to replace the damaged agent to carry out cooperative relay tracking of the target.In order to solve the error jump problem caused by the agent replacement in the heterogeneous relay tracking system,the constraint conditionτa>lnμ/2α of the average residence time of the heterogeneous relay system to ensure the stability of the system is deduced.(3)Aiming at the situation that only some tracking agents can obtain the target dynamics,a target dynamic matrix observer is designed,and an observerbased distributed consensus control algorithm is proposed to solve the problem of target relay tracking in heterogeneous multi-agent systems.The simulation results verify the effectiveness of the distributed consensus control algorithm when only some agents can obtain the target dynamics.