非完整多智能体主动抗扰编队控制

doi:10.12305/j.issn.1001-506X.2026.09.32

摘要/Abstract

摘要：

针对非完整多智能体的复杂编队队形构建问题，提出一种编队控制方法。首先，结合时变调节函数设计一种具有预设时间上限的扰动观测器，用于估计时变输入扰动。随后，构建统一适用于开曲线与闭曲线的参数化表示形式，并设计一种基于曲线系数反馈的主动抗扰编队控制器，能够在有向通信拓扑下实现智能体对目标曲线的编队跟踪，同时有效抑制时变输入扰动。通过Lyapunov稳定性分析，证明所提闭环系统的渐近稳定性。最后，仿真结果表明，所提方法在预设时间内可有效抑制时变扰动并实现复杂编队构建，验证了所提方法的有效性。

关键词: 非完整多智能体系统, 主动抗扰, 编队控制, 预设时间上限扰动观测器

Abstract:

To address the problem of constructing complex formations for nonholonomic multi-agent, a formation control method is proposed. Firstly, a present time-bounded disturbance observer is developed by incorporating a time-varying modulation function to estimate time-varying input disturbances. Then, a unified parametric representation applicable to both open and closed curves is constructed. Based on this, an active disturbance rejection formation controller is designed using curve coefficient feedback, enabling the agents to track the targets curve for a directed communication topology while effectively suppressing time-varying input disturbances. Lyapunov-based stability analysis is conducted to prove the asymptotic stability of the proposed closed-loop system. Finally, simulation results demonstrate that the proposed method can effectively suppress time-varying disturbances within the preset time and achieve the construction of complex formations, thereby verifying its effectiveness.

Key words: nonholonomic multi-agent system, active disturbance rejection, formation control, preset time-bounded disturbance observer

中图分类号:

TP 273

陈宗艺, 胡春鹤, 刘国辉. 非完整多智能体主动抗扰编队控制[J]. 系统工程与电子技术, 2026, 48(9): 3202-3209.

Zongyi Chen, Chunhe Hu, Guohui Liu. Active disturbance rejection formation control of nonholonomic multi-agent[J]. Systems Engineering and Electronics, 2026, 48(9): 3202-3209.

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