文章目录
1. Introduction
2. Preliminaries and problem formulation
2.1. Graph theory
2.2. Input-to-state stability and some useful lemmas
2.3. Problem formulation
领航者为
x
˙
0
=
A
x
0
(5)
\dot{x}_0 = A x_0 \tag{5}
x˙0=Ax0(5)
跟随者为
x
˙
i
=
A
x
i
+
B
(
u
i
+
d
i
)
(6)
\begin{aligned} \dot{x}_i = A x_i + B (u_i + d_i) \end{aligned} \tag{6}
x˙i=Axi+B(ui+di)(6)
3. Consensus analysis with exogenous disturbances generated by linear heterogeneous exosystems
干扰信号
d
i
d_i
di 由以下动力学产生
ξ
˙
i
=
A
0
i
ξ
i
d
i
=
C
0
i
ξ
i
(8)
\begin{aligned} \dot{\xi}_i = A_{0i} \xi_i \\ d_i = C_{0i} \xi_i \end{aligned} \tag{8}
ξ˙i=A0iξidi=C0iξi(8)
观测器为
z
˙
i
=
(
A
0
i
−
K
i
B
C
0
i
)
(
z
i
+
K
i
x
i
)
−
K
i
(
A
x
i
+
B
u
i
)
ξ
^
i
=
z
i
+
K
i
x
i
d
^
i
=
C
0
i
ξ
^
i
(9)
\begin{aligned} \dot{z}_i &= (A_{0i}-K_iBC_{0i}) (z_i + K_i x_i) - K_i(Ax_i + Bu_i) \\ \hat{\xi}_i &= z_i + K_i x_i \\ \hat{d}_i &= C_{0i} \hat{\xi}_i \end{aligned} \tag{9}
z˙iξ^id^i=(A0i−KiBC0i)(zi+Kixi)−Ki(Axi+Bui)=zi+Kixi=C0iξ^i(9)
控制器为
u
i
=
c
F
[
∑
j
=
1
N
a
i
j
(
x
j
−
x
i
)
+
g
i
(
x
0
−
x
i
)
]
−
C
0
i
ξ
^
i
(15)
\begin{aligned} u_i &= cF \left[ \sum_{j=1}^N a_{ij} (x_j - x_i) + g_i(x_0 - x_i) \right] - C_{0i} \hat{\xi}_i \end{aligned} \tag{15}
ui=cF[j=1∑Naij(xj−xi)+gi(x0−xi)]−C0iξ^i(15)
4. Consensus analysis with exogenous disturbances generated by non-linear heterogeneous exosystems
干扰信号
d
i
d_i
di 由以上动力学产生
ξ
˙
i
=
A
0
i
ξ
i
+
ϕ
i
(
ξ
i
)
d
i
=
C
0
i
ξ
i
(35)
\begin{aligned} \dot{\xi}_i &= A_{0i} \xi_i \red{+ \phi_i(\xi_i)} \\ d_i &= C_{0i} \xi_i \end{aligned} \tag{35}
ξ˙idi=A0iξi+ϕi(ξi)=C0iξi(35)
观测器为
z
˙
i
=
(
A
0
i
−
K
i
B
C
0
i
)
(
z
i
+
K
i
x
i
)
+
ϕ
i
(
z
i
+
K
i
x
i
)
−
K
i
(
A
x
i
+
B
u
i
)
+
Q
ζ
i
−
1
ζ
i
e
i
ζ
˙
i
=
e
i
T
e
i
ξ
^
i
=
z
i
+
K
i
x
i
d
^
i
=
C
0
i
ξ
^
i
(37)
\begin{aligned} \dot{z}_i &= (A_{0i}-K_iBC_{0i}) (z_i + K_i x_i) \red{+\phi_i(z_i + K_i x_i)} - K_i(Ax_i + Bu_i) + \red{Q^{-1}_{\zeta_i} \zeta_i e_i} \\ \red{\dot{\zeta}_i} &\red{= e_i^{\text{T}} e_i} \\ \hat{\xi}_i &= z_i + K_i x_i \\ \hat{d}_i &= C_{0i} \hat{\xi}_i \end{aligned} \tag{37}
z˙iζ˙iξ^id^i=(A0i−KiBC0i)(zi+Kixi)+ϕi(zi+Kixi)−Ki(Axi+Bui)+Qζi−1ζiei=eiTei=zi+Kixi=C0iξ^i(37)
论文中的观测器（37），写出来的结果无法运行，因为维度都不匹配。经过我的测试，感觉应该是少了个负号，我给补充上去了，结果就变好了。
e i = ξ i − ξ ^ i (38) \begin{aligned} {e}_i &= \xi_i - \hat{\xi}_i \end{aligned} \tag{38} ei=ξi−ξ^i(38)
5. Simulation examples
Example 5.1
对应程序为 Main_Ex51.m
效果如下：
Example 5.2
对应程序为 Main_Ex52.m
效果如下：
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