基于观测器的受扰异构广义多智能体系统的领导跟随一致性

doi:10.11772/j.issn.1001-9081.2025040441

《计算机应用》唯一官方网站 ›› 2026, Vol. 46 ›› Issue (4): 1211-1217.DOI: 10.11772/j.issn.1001-9081.2025040441

• 先进计算 • 上一篇

基于观测器的受扰异构广义多智能体系统的领导跟随一致性

苏帅, 刘成林()

轻工过程先进控制教育部重点实验室（江南大学），江苏无锡 214122

收稿日期:2025-04-25 修回日期:2025-07-09 接受日期:2025-07-10 发布日期:2025-07-28 出版日期:2026-04-10
通讯作者: 刘成林
作者简介:苏帅（2001—），男，河北迁安人，硕士研究生，主要研究方向：多智能体系统的一致性
基金资助:
国家自然科学基金资助项目(61973139);国家自然科学基金资助项目(61473138)

Observer-based leader-following consensus of heterogeneous descriptor multi-agent system with disturbance

Shuai SU, Chenglin LIU()

Key Laboratory of Advanced Process Control for Light Industry，Ministry of Education （Jiangnan University），Wuxi Jiangsu 214122，China

Received:2025-04-25 Revised:2025-07-09 Accepted:2025-07-10 Online:2025-07-28 Published:2026-04-10
Contact: Chenglin LIU
About author:SU Shuai， born in 2001， M. S. candidate. His research interests include consensus of multi-agent system.
Supported by:
National Natural Science Foundation of China(61973139)

摘要/Abstract

摘要：

针对未知非线性外部扰动下的异构广义多智能体系统的领导跟随一致性问题，提出一种分布式控制协议。首先，设计扰动观测器以观测非线性外部扰动，并推导出观测误差的收敛条件；其次，基于状态观测器设计分布式控制协议，以实现系统对领导者的领导跟随一致性，并基于图论、矩阵论和广义系统理论证明它的充分性与合理性；最后，将控制协议的设计与分析推广至基于竞争合作关系的异构广义多智能体系统的领导跟随二分一致性问题。仿真实验的结果表明，所提控制协议有效实现了对目标的控制，与无扰动观测器系统的对比实验结果则进一步验证了扰动观测器的设计的必要性。可见，所提协议进一步拓展了一致性理论在复杂环境中的应用范围。

关键词: 异构广义多智能体系统, 领导跟随一致性, 非线性外部扰动, 状态观测器, 领导跟随二分一致性

Abstract:

Aiming at the leader-following consensus problem of heterogeneous descriptor multi-agent systems under unknown nonlinear exogenous disturbance， a distributed control protocol was proposed. Firstly， a disturbance observer was designed to observe the nonlinear exogenous disturbance， and the convergence condition of the observation error was derived. Secondly， a distributed control protocol was designed on the basis of the state observer， so as to achieve leader-following consensus of the system to the leader， and its sufficiency and rationality were proved on the basis of graph theory， matrix theory， and descriptor system theory. Finally， the design and analysis of the control protocol were extended to the leader-following bipartite consensus problem of heterogeneous descriptor multi-agent systems based on competition and cooperation relationships. Simulation results demonstrate that the proposed control protocol achieves the object control effectively. Comparison experimental results with systems without disturbance observer further verify the necessity of the disturbance observer design. It can be seen that the proposed protocol further extends the applicability of consensus theory in complex environments.

Key words: heterogeneous descriptor multi-agent system, leader-following consensus, nonlinear exogenous disturbance, state observer, leader-following bipartite consensus

中图分类号:

TP273

苏帅, 刘成林. 基于观测器的受扰异构广义多智能体系统的领导跟随一致性[J]. 计算机应用, 2026, 46(4): 1211-1217.

Shuai SU, Chenglin LIU. Observer-based leader-following consensus of heterogeneous descriptor multi-agent system with disturbance[J]. Journal of Computer Applications, 2026, 46(4): 1211-1217.

图/表 6

图1 系统拓扑

Fig. 1 System topology

图2 系统状态轨迹

Fig. 2 State trajectories of system

图3 扰动观测误差

Fig. 3 Observation errors of disturbance

图4 无扰动观测器的系统状态轨迹

Fig. 4 System state trajectories without disturbance observer

图5 基于竞争与合作关系的系统拓扑

Fig. 5 System topology based on competition and cooperation relationship

图6 基于竞争与合作关系的系统状态轨迹

Fig. 6 System state trajectories based on competition and cooperation relationship

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基于观测器的受扰异构广义多智能体系统的领导跟随一致性

Observer-based leader-following consensus of heterogeneous descriptor multi-agent system with disturbance

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