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单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

DOI: 10.3724/SP.J.1004.2014.02595, PP. 2595-2601

Keywords: 协同控制,动态领航者,线性多智能体系统,迭代学习

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Abstract:

?研究单向通信拓扑领航者动态未知线性多智能体系统的协同跟踪问题.基于邻居的相对状态信息,设计了分布式迭代学习控制律实现对领航者的协同跟踪控制,采用Lyapunov-Krasovskii函数分析闭环系统的稳定性与收敛性.进而,将状态反馈结论拓展到输出反馈,通过构造局部观测器估计不可量测的状态信息,采用估计的相对状态信息设计了分布式迭代学习控制器.对于以上两种情形,多智能体系统在通讯拓扑含有生成树的条件下能够实现与领航者的状态同步,同时,所设计的分布式迭代学习律能够对领航者未知输入进行精确估计.仿真实例验证了所提方法的有效性.

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