In this paper, the cooperative tracking control of single-integrator multi-agent systems is investigated. The networked agents are partitioned into two groups, leaders and followers. Only the former have access to the state of an autonomous exogenous system and their role is to inject the control inputs into the network such that the followers track the predefined setpoint trajectories. The followers are controlled through local interaction rules based on the relative measurements from their neighbors. A novel distributed observer-based control strategy that solves the tracking control problem is proposed. Simple rules are provided for determining the controller and observer parameters which guarantee that the closed-loop system poles lie in the specified region. The effectiveness of the proposed approach is verified through numerical examples.

本文研究了单积分器多智能体系统的协同跟踪控制。网络代理分为两组，领导者和追随者。只有前者可以访问自主外生系统的状态，它们的作用是将控制输入注入网络，以便跟随者跟踪预定义的设定点轨迹。追随者通过基于其邻居的相对测量的本地交互规则进行控制。提出了一种解决跟踪控制问题的新型分布式基于观测器的控制策略。提供了用于确定控制器和观测器参数的简单规则，这些参数保证闭环系统极点位于指定区域内。通过数值例子验证了所提方法的有效性。