Cooperative Tracking of Networked Agents With a High-Dimensional Leader: Qualitative Analysis and Performance Evaluation
研究了一类多智能体系统在单个高维领导者存在下的协同共识跟踪问题，设计了基于降阶状态观测器的分布式控制器，分析了无扰动和有扰动情况下的跟踪性能，并给出了保证有限增益性能的控制器设计方法。
Cooperative consensus tracking and its -gain performance is investigated in this paper for a class of multiple agent systems (MASs) in the presence of a single high-dimensional leader. Compared with the traditional models for MASs, the inherent dynamics of the leader are allowed to be different with those of the followers in the present framework, which is thus much more favorable in various practical applications. A new kind of distributed controllers associated with a reduced-order state observer are designed for each follower to track the high-dimensional leader under directed switching topology. With the help of -matrix theory and stability analysis methods of switched systems, some efficient criteria are derived for cooperative consensus tracking of MASs without any external disturbance under directed switching topology. Theoretical analysis is further extended to the case of consensus tracking for MASs subject to unknown external disturbances by showing that, a finite -gain performance for tracking errors against external disturbances can be ensured if some suitable conditions are satisfied. At last, the synthesis issue of designing an observer-based controller to achieve a prescribed -gain performance for consensus tracking is studied by using tools from control theory, where the underlying topology is assumed to be undirected and fixed. The effectiveness of theoretical results is verified by performing numerical simulations.