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本文研究了具有非线性耦合与外部干扰的移动多智能体系统的一致性问题.假设系统不存在外部干扰的情况,设计了一个牵引控制使得移动智能体系统达到一个期望值.假设系统存在一个外部干扰,应用干扰–观测器控制,使得系统中的所有智能体可以渐近达到一致.通过分析具有固定拓扑和时变拓扑的移动多智能体动态系统,得到了许多基于抗干扰观测器的系统收敛性条件.最后应用仿真实例说明了结论的有效性.
In this paper, we study the consistency problem of a mobile multi-agent system with nonlinear coupling and external disturbance. Assuming that there is no external disturbance in the system, a traction control is designed so that the mobile agent system reaches an expected value. Suppose there is an external interference , And applying disturbance-observer control, all the agents in the system can be asymptotically uniform.By analyzing the moving multi-agent dynamic system with fixed topology and time-varying topology, many system convergences based on anti-interference observer Conditions.Finally, simulation examples are given to illustrate the validity of the conclusion.