异构多智能体系统分组输出时变编队跟踪控制

空地协同控制是前沿的热点研究之一，以无人机、无人车为代表的空地智能体动力学模型的差异为研究带来了挑战。研究了高阶异构多智能体系统在有向拓扑条件下的分组输出时变编队跟踪控制问题，提出了虚拟领导者、分组领导者以及跟随者组成的三层协同控制架构。虚拟领导者用于规划整个多智能体系统的状态轨迹，分组领导者跟踪虚拟领导者所提供的轨迹信息，并相互协作以实现分组间的协同配合。跟随者跟踪分组领导者的输出并实现期望的输出编队。在有向通信拓扑结构条件下，基于局部邻居间的相对信息、观测器理论和滑模控制理论构造了控制协议，利用Lyapunov稳定性理论证明协议的有效性。数值仿真结果表明提出的方法能够实现无人机、无人车等异构智能体的空地协同，具有较好的工程应用价值。

Time-varying output group formation tracking for heterogeneous multi-agent systems

Air ground cooperative control is one of the hottest researches, and the differences between air ground agents' dynamic models represented by Quadrotor UAVs and unmanned vehicles bring great challenges. This paper investigates time-varying output group formation tracking control problems for heterogeneous high-order multi-agent systems with directed topologies. Agents in the structure of heterogeneous multi-agent systems' models given by this paper are classified into three types, including the virtual leader, the group leader, and the follower. The virtual leader can be used to control the trajectory of states associated with the whole heterogeneous multi-agent systems. Group leaders track the trajectory determined by the virtual leader and achieve the coordination among subgroups by communicating with each other. Followers track the states of group leaders and form the desired formation. Under the condition of directed topologies, based on neighboring information, observer theory and sliding mode control theory, a control protocol is constructed. Then the stability of heterogeneous multi-agent systems under the protocol is proven by using Lyapunov theory. Numerical simulations indicated that the approaches presented by this paper can be applied to the physical models represented by Quadrotor UAVs and Unmanned vehicles and have significant project application value.