This paper revisits a well studied leader-following consensus problem of linear multi-agent systems, while aiming at follower nodes’ transient performance. Conventionally, when not all follower nodes have access to the leader’s state information, distributed observers are designed to estimate the leader’s state, and the observers are coupled via communication network. Then each follower node only needs to track its observer’s state independently, without interacting with its neighbors. This paper deliberately introduces certain coupling effect among follower nodes, such that the follower nodes tend to converge to each other cooperatively on the way they converge to the leader. Moreover, by suitably designing the control law, the poles of follower nodes can be assigned as desired, and thus transient tracking performance can also be adjusted.

本文针对跟随节点的暂态性能，重新研究了一个经过充分研究的线性多主体系统的领导者遵循共识问题。常规地，当不是所有跟随者节点都可以访问领导者的状态信息时，分布式观察者被设计为估计领导者的状态，并且观察者通过通信网络耦合。然后，每个跟随者节点仅需要独立跟踪其观察者的状态，而无需与其邻居进行交互。本文特意介绍了跟随者节点之间的某些耦合效应，以使跟随者节点趋向于在它们收敛到领导者的方式上相互收敛。此外，通过适当地设计控制律，可以根据需要分配跟随节点的极点，因此也可以调整瞬态跟踪性能。