基于脉冲观测器的多智能体系统的领导跟随一致性

胡然; 彭世国

doi:10.12052/gdutxb.220155

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基于脉冲观测器的多智能体系统的领导跟随一致性

综合研究 | 更新时间：2026-05-27

- 基于脉冲观测器的多智能体系统的领导跟随一致性
- Impulsive Observer-based Leader-following Consensus for Multi-agent Systems
- 广东工业大学学报 2023年40卷第5期页码：88-93
- 作者机构：
  
  广东工业大学自动化学院,广东,广州,510006
- 作者简介：
  
  胡然(1994–) ，女，硕士研究生，主要研究方向为脉冲观测器的分析与设计、多智能体系统协同控制问题，E-mail：huran613@163.com
  彭世国(1967–)，男，教授，博士生导师，主要研究方向为复杂系统随机控制理论，E-mail：sgpeng@gdut.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(61973092);广东省基础与应用基础研究基金资助项目(2019A1515012104)
- DOI：10.12052/gdutxb.220155
  中图分类号： TP273
- 纸质出版：2023
- 稿件说明：
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胡然, 彭世国. 基于脉冲观测器的多智能体系统的领导跟随一致性[J]. 广东工业大学学报, 2023, 40(5): 88-93.

Hu Ran, Peng Shi-guo. Impulsive Observer-based Leader-following Consensus for Multi-agent Systems[J]. 2023, 40(5): 88-93.
胡然, 彭世国. 基于脉冲观测器的多智能体系统的领导跟随一致性[J]. 广东工业大学学报, 2023, 40(5): 88-93. DOI： 10.12052/gdutxb.220155.

Hu Ran, Peng Shi-guo. Impulsive Observer-based Leader-following Consensus for Multi-agent Systems[J]. 2023, 40(5): 88-93. DOI： 10.12052/gdutxb.220155.

摘要

本文研究了只有部分跟随者可获取领导者信息的多智能体系统的领导跟随一致性问题。对于不能获得领导者信息的部分跟随者，需要估计领导者的状态。另外，鉴于在某些条件下只能获得智能体的不连续的输出信息，引入脉冲观测器来减少多智能体系统的采样次数。本文的目的是设计一种基于脉冲观测器的控制器来实现领导跟随多智能体系统的一致性。首先，设计了可以估计领导者状态的分布式脉冲全维观测器以及一致性协议。其次，推导出误差系统的动力学方程，并利用误差变量构造合适的Lyapunov函数。最后，利用Lyapunov稳定性理论结合线性矩阵不等式研究误差系统的稳定性问题，得到多智能体系统领导跟随一致性问题的充分条件，并用数值仿真验证了结果的有效性。

Abstract

In this paper

we investigate the problem of consensus in leader-following multi-agent system

where the information of the leader is only accessed by a subset of the following agents. For the part of the follower who cannot obtain the leader’s information

the state of the leader need to be estimated. In addition

considering the discontinuity of obtaining the output information of agents under certain conditions

an impulsive observer is introduced to reduce the sampling times among multiple agents. To achieve this

this paper aims to design a controller based on impulsive observer to achieve the consensus of leader-following multi-agent systems. Firstly

an impulsive full-order observer and a consensus protocol are designed for each follower

so that the follower can use the observer to estimate the leader. Secondly

the dynamic equation of the error system is derived

and the appropriately Lyapunov function is constructed by using the error variables. Finally

the stability of error systems is studied by using the Lyapunov stability theory combining with the linear matrix inequalities

so that the sufficient conditions for the leader-following consensus problem of multi-agent systems can be obtained. Numerical simulation results clearly show the effectiveness of the proposed controller.

关键词

Keywords

references

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