论文标题
在有限的信息可用性下，高级领导者跟踪控制控制
High-Order Leader-Follower Tracking Control under Limited Information Availability
论文作者
论文摘要
有限的信息可用性代表了控制多代理系统的基本挑战，因为代理通常缺乏感应能力来衡量其自己的某些状态，并且只能与邻居交换数据。当代理受高阶动态支配时，挑战就会变得更大。目前的工作是在仅测量了代理的第一个状态的情况下，促使对线性和非线性高级领导者多代理系统进行控制设计。为了应对这一开放挑战，我们开发了新颖的分布式观察者，使追随者能够重建有关自己和领导者的未测量或未知数，并在这样的基础上构建基于观察者的跟踪控制方法。我们分析了所提出方法的收敛性能，并通过模拟验证其性能。
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The challenge becomes even greater when agents are governed by high-order dynamics. The present work is motivated to conduct control design for linear and nonlinear high-order leader-follower multi-agent systems in a context where only the first state of an agent is measured. To address this open challenge, we develop novel distributed observers to enable followers to reconstruct unmeasured or unknown quantities about themselves and the leader and on such a basis, build observer-based tracking control approaches. We analyze the convergence properties of the proposed approaches and validate their performance through simulation.
