约束条件下多运动体位置跟踪鲁棒控制算法研究
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摘要
针对存在执行器饱和限制和干扰影响的智能体,提出一种无速度测量的多智能体位置跟踪的鲁棒分布式控制算法。其中:一部分是作为保证系统一致渐进稳定的稳定器,即一种有界且没有速度反馈的多智能体位置跟踪算法,另一部分是抑制不确定因素的干扰估计器。通过对干扰估计误差和位置跟踪误差的分析,从理论上验证了算法的准确性。最后利用Simulink仿真实例说明了这种控制方案的可行性。
Based on the vehicle with actuator saturation and unknown disturbance,a position tracking distributed robust algorithm of multi vehicle without velocity measurements was proposed in this paper.The algorithm consists of two parts: one part proposed a bounded robust controller without velocity measurements as the stabilizer to ensure that the nominal closed-loop system was globally uniformly asymptotically stable; The other part was added to attenuate the effect of total uncertainties by an uncertainty and disturbance estimator( UDE).In theory,the accuracy of the algorithm was verified by the analysis of total disturbance estimation error and position tracking error.Several numerical simulations validated the theoretical results.
Based on the vehicle with actuator saturation and unknown disturbance,a position tracking distributed robust algorithm of multi vehicle without velocity measurements was proposed in this paper.The algorithm consists of two parts: one part proposed a bounded robust controller without velocity measurements as the stabilizer to ensure that the nominal closed-loop system was globally uniformly asymptotically stable; The other part was added to attenuate the effect of total uncertainties by an uncertainty and disturbance estimator( UDE).In theory,the accuracy of the algorithm was verified by the analysis of total disturbance estimation error and position tracking error.Several numerical simulations validated the theoretical results.
引文
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[2]Hong Y,Hu J,Gao L.Tracking control for multi-agent consensus with an active leader and variable topology[J]Automatica,2006,42(7):1177-1182.
[3]Lin P,Jia Y,Li L.Distributed robust H∞consensus control in directed networks of agents with time-delay[J]Systems&Control Letters,2008,57(8):643-653.
[4]王丹晔.载人运载火箭干扰在线补偿制导方法研究[J]载人航天,2012,18(3):31-35.
[5]Talole SE,Phadke SB.Robust input-output linearisation using uncertainty and disturbance estimation[J]International Journal of Control,2009,82(10):1794-1803.
[6]Kuperman A,Zhong QC.Robust control of uncertain nonlinear systems with state delays based on an uncertainty and disturbance estimator[J]International Journal of Robust and Nonlinear Control,2011,21(1):79-92.
[7]Deshpande VS,Phadke SB.Control of uncertain nonlinear systems using an uncertainty and disturbance estimator[J]Journal of Dynamic Systems,Measurement,and Control,2012,134(2):024501.
[8]刘竹生,张曙辉,容易.火箭在轨大尺寸、重负载交会对接技术研究[J].载人航天,2012,18(2):1-6.
[9]Zhu B,Sun W,Meng C.Position tracking of multi double-integrator dynamics by bounded distributed control without velocity measurements[C].American Control Conference(ACC),2013 Washington.DC,USA:IEEE,2013:4033-4038.
[10]Ren W.On consensus algorithms for double-integrator dynamics[J].IEEE Transactions on Automatic Control,2008,58(6):1503-1509.
[11]Chen T,Liu X,Lu W.Pinning complex networks by a single controller[J].Circuits and Systems I:Regular Papers,IEEE Transactions on,2007,54(6):1317-1326.