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现有跟踪自治线性领导者系统的一致性算法在领导者带有控制输入的情况下会有较大的跟踪误差,因此设计了一种在切换网络条件下,针对领导者、跟随者均为一般线性系统的多体一致性分布式观测器与控制器。设计使用邻近节点的局部信息状态,通过构造分布式观测器来重构领导者系统的参考状态与控制激励,并使用各跟随节点的观测值构造控制器来完成对领导者的一致性控制。此外,轮式机器人编队控制实例说明了该算法在跟随节点需要保持可变相对状态偏差条件下的应用方法,仿真结果验证了算法的有效性。
The existing algorithms for tracking autonomous autonomous linear leader systems have larger tracking errors when the leader has control inputs. Therefore, aiming at leaders and followers under switching network conditions, Multibody Consistency Distributed Observer and Controller for Linear Systems. The local information states of the neighboring nodes are designed. The distributed observation observer is used to reconstruct the reference state of the leader system and control the excitation, and the controller is constructed by using the observed values of each following node to achieve the consistency control of the leader. In addition, the example of formation control of wheeled robots shows the application of the algorithm to follow the node needs to maintain the variable relative state deviation. The simulation results verify the effectiveness of the algorithm.