针对带有未知外部干扰的多智能体系统, 提出了一种带有预设性能的鲁棒仿射编队控制算法。在有向图下, 利用符号拉普拉斯矩阵, 根据领航者的状态, 给出了跟随者距离误差动力学模型。然后, 利用输入到状态稳定(ISS)和李雅普诺夫稳定性定理, 不仅证明了所提控制算法的收敛性和稳定性, 抑制了系统的外部干扰, 还保证了系统的误差状态收敛到预设的性能函数内, 保证系统具有良好的暂态行为。最后, 仿真结果验证了跟随者在外部干扰下依然能够跟随领航者, 验证了所提算法的有效性。

A robust affine formation control algorithm with prescribed performance is proposed for multi-agent systems with unknown external disturbances.In the directional graph, the follower distance error dynamics model is given by using the Laplace matrix of symbols according to the leaders state.Then, by using the input to state stability and Lyapunov stability theorem, the convergence and stability of the proposed control algorithm are proved, the external disturbances are restrained, and it is guaranteed that the error state of the system converges to the prescribed performance function, which ensures fine transient behavior of the system.Finally, the simulation results show that the follower can follow the leader under external interferences, and the validity of the proposed algorithm is verified.