基于双重观测器的不确定多智能体指定时间状态估计方法

• Format: Patent
• Language: Chinese
• Published: 21.01.2025
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

本发明公开了一种基于双重观测器的不确定多智能体指定时间状态估计方法，属于多智能体系统状态估计与协同控制领域，包括以下步骤：S1、分析多智能体系统和噪声模型的不确定性，建立系统动态方程；S2、基于零空间和系统动态方程设计变换矩阵，构建多智能体系统一致性误差动态方程；S3、基于系统状态方程和输出方程构建双重观测器；S4、引入时滞信息建立系数矩阵可逆的非齐次线性方程组，反解状态估计值。本发明采用上述基于双重观测器的不确定多智能体指定时间状态估计方法，基于多智能体系统动态，将每个节点的控制输入视为未知输入，并引入一个不确定性项，提出新的全阶分布式指定时间观测器，以估计任意预设时间内的精确一致性误差。 The invention discloses an uncertain multi-agent specified time state estimation method based on double observers, and belongs to the field of multi-agent system state estimation and cooperative control, and the method comprises the following steps: S1, analyzing the uncertainty of a multi-agent system and a noise model, and building a system dynamic equation; s2, designing a transformation matrix based on a null space and a system dynamic equation, and constructing a multi-agent system consistency error dynamic equation; s3, constructing a dual observer based on the system state equation and the output equation; and S4, introducing time delay information to establish a coefficient matrix reversible non-homogeneous