Distributed Cooperative Anti-Disturbance Control for High-Order MIMO Nonlinear Multi-Agent Systems

Abstract

Abstract:To solve the synchronization and tracking problems, a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output (MIMO) nonlinear multi-agent systems (MASs) subjected to uncertainties and external disturbances. First, coupled relationships among Laplace matrix, leader-following adjacency matrix and consensus error are analyzed based on undirected graph. Furthermore, nonlinear disturbance observers (NDOs) are designed to estimate compounded disturbances in MASs, and a distributed cooperative antidisturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach. Finally, the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.

Key words:nonlinear disturbance observer (NDO), higher-order multi-input and multi-output (MIMO) system, multi-agent system, cooperative control, disturbance suppression

摘要：对一类具有不确定性和外部动态干扰的高阶多输入多输出(multi-input and multi-output, MIMO)非线性多智能体系统(multi-agent systems, MASs)，研究了协同控制策略以解决MASs的同步跟踪问题。首先，分析了无向通讯拓扑下Laplace矩阵、领导跟随邻接矩阵和MASs一致性误差之间的耦合关系；其次，设计非线性干扰观测器(nonlinear disturbance observers, NDOs)在线估计MASs中的未知复合扰动，并基于NDO输出和动态面控制为高阶MIMO非线性MASs设计了分布式协同抗干扰控制协议；最后，基于Lyapunov稳定理论和仿真试验证明所设计控制策略的可行性和有效性。

关键词:非线性干扰观测器，高阶多输入多输出系统，多智能体系统，协同控制，干扰抑制

CLC Number:

TM712
TP273

JIN Feiyu (金飞宇), CHEN Longsheng^∗(陈龙胜), LI Tongshuai (李统帅), SHI Tongxin (石童昕). Distributed Cooperative Anti-Disturbance Control for High-Order MIMO Nonlinear Multi-Agent Systems[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 656-666.

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