四川轻化工大学学报（自然科学版）2025，Vol.38Issue(1)：39-46,8.DOI:10.11863/j.suse.2025.01.05
基于扩张状态观测器的异构多智能体编队控制
Heterogeneous Multi-agent Formation Control Based on Expanded State Observer
摘要
Abstract
To address the problem of heterogeneous multi-agent formation cooperative control in complex environments,a cooperative control method for heterogeneous multi-agent formation based on the expansion state observer(ESO)is proposed,which consists of unmanned ground vehicles(UGV)and unmanned aerial vehicles(UAV).First,a dynamic model for a single UGV and a single UAV is established,upon which the dynamic model for the heterogeneous multi-agent formation is constructed.Next,to address the unknown disturbances and model parameter uncertainties present in the heterogeneous formation system,a novel ESO is designed,which introduces an integral term into the traditional ESO to estimate model parameter uncertainties and unknown system disturbances.Based on the integral expansion state observer(IESO),a dynamic formation control protocol is designed,and the convergence of the error within a finite time is proven.Finally,compared with the control method designed based on the traditional ESO,the proposed method shows that the error in the X direction tends to zero in about 7 s and the error in the Y direction tends to zero in about 6 s.Simulation results indicate that the proposed method has higher observation accuracy,faster convergence speed,and stronger anti-interference capability.关键词
扩张状态观测器/异构多智能体/编队控制/UAV/UGV编队Key words
expanded state observer/heterogeneous multi-intelligence/formation control/UAV/UGV formation分类
航空航天引用本文复制引用
陈世东,庹先国,韩强..基于扩张状态观测器的异构多智能体编队控制[J].四川轻化工大学学报（自然科学版）,2025,38(1):39-46,8.基金项目
国家自然科学基金项目(61902268) （61902268）
四川省科技厅项目(21ZDYF4052 （）
2020YFH0124 （）
2021YFSY0060) （）
四川轻化工大学创新计划项目(cx2023193 （）
cx2023195 （）
cx2023198) （）
