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针对受到外部干扰影响的二阶多智能系统,提出一种新型干扰观测器的设计方案.在只有部分智能体能接收到参考模型信号的条件下,研究受到不同外系统生成干扰信号影响的二阶多智能体系统模型参考一致性问题.针对干扰信号由线性外系统和非线性外系统生成的情况,分别设计干扰观测器.进一步提出分布式控制协议,所提出的一致性协议可以有效地抑制干扰,最终实现多智能体系统的模型参考一致性.仿真算例验证了所提出方法的有效性.
Aiming at the second-order multi-intelligence system affected by external disturbance, a new design scheme of interference observer is proposed.When only some intelligent agents can receive the reference model signal, In order to solve the problem of consistency of reference in the intelligent system model, a disturbance observer is designed for the case that the interference signal is generated by the linear outer system and the non-linear outer system respectively. Furthermore, the distributed control protocol is proposed. The proposed protocol can effectively suppress the interference, Finally, the model reference consistency of multi-agent system is achieved.The simulation results show the effectiveness of the proposed method.