切换拓扑下混合相对阶异构多智能体系统自适应扰动抑制设计OA

A novel distributed adaptive disturbance rejection control scheme is developed for heterogeneous multi-agent systems with mixed relative degree under uncertain disturbance to achieve leader-follower output consensus under switching topology.First,a local output tracking error is introduced to transform the global leader-follower output consensus problem into a local output consensus problem between neighboring agents.Then,assuming known system parameters and disturbances,a distributed nominal high-order differential neighbor-sharing informa-tion based disturbance rejection controller is designed,based on the agent system control-disturbance relative de-gree matching condition.Based on this,a high-order sliding mode differentiator based precise estimation method is proposed to address the problem of difficulty in directly obtaining high-order differential neighbor-sharing signals in controllers due to mixed relative order differences.This method breaks through the traditional control design's de-pendence on system relative order consistency and solves the problem of local-global output consistency in fixed/switching topologies.Furthermore,for the case where the system parameters and disturbances are uncertain,a distributed adaptive disturbance rejection controller is designed to achieve desired disturbance compensation and leader-follower output consensus under switching topology.The proposed control method can not only ensure closed-loop stability of the entire agent system and achieve leader-follower output consensus,without relying on global agent or leader information,but also achieve the expected disturbance rejection.Compared with conventional ad-aptive consensus control schemes,it also has the ability to handle the mixed relative order characteristics of hetero-geneous multi-agent systems.Finally,the effectiveness of the proposed control scheme is verified through simula-tions.