针对具有干扰的二阶多自主体系统,提出了一种应用个体局部信息的分布式控制协议,给出了具有领航者的自主群体在受到外界干扰时取得群集运动与速度同步的充分条件。首先,对自主体设计一个干扰观测器。然后,基于观测器设计分布式控制协议,保证了具有领航者的自主群体能够取得群集运动与速度同步。最后通过例子进行仿真,结果表明结论的有效性。
For second-order multi-agent system with disturbance, a distributed control protocol with individual local information is proposed, and the sufficient condition is obtained to ensure the flocking motion and the speed synchronization when multi-agent system is disturbed by outside world. First, we design a disturbance observer for each agent, then, a distributed control protocol based on disturbance observer is presented. The protocol can guarantee multi-agent system achieve flocking motion and synchronous speed. Finally, simulation results show the validity of the conclusion.
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