Invariant Ellipsoids Method for Homogeneous Leader-Following Consensus Control
将不变椭球方法推广到多智能体系统，利用同构控制协议实现对外部扰动的最优抑制，相比线性控制收敛更快、精度更高，并用轮式移动机器人仿真验证。
The invariant ellipsoid methodology focuses on minimizing the invariant/attractive set for a linear control system subjects to bounded external disturbances. In this note, the invariant ellipsoid methodology is adapted to multiagent systems (MASs) by leveraging the generalized homogeneous control. A necessary and sufficient condition for the optimal rejection of external disturbances using a homogeneous control protocol is presented. Compared to linear control protocols, the generalized homogeneous approach yields faster convergence and enhanced accuracy. Theoretical results are validated by the numerical simulations of the multiagent system comprised of unicycle mobile robots (UMRs).