发表机构
Nanyang Technological University; University of Macau（南洋理工大学; 澳门大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对DoS攻击下非线性多智能体系统，提出基于参数化李雅普诺夫方程和混合观测器的分离原理，实现观测器与控制器独立设计，仅需三个参数即可保证预设时间一致性跟踪。
AI 中文摘要
尽管多智能体系统（MASs）控制理论近年来取得了进展，但即使对于线性多智能体系统，高度期望的分离原理也难以建立，更不用说仅依赖输出测量且在拒绝服务（DoS）攻击下的非线性多智能体系统了。本文针对此类非线性多智能体系统的分布式领导-跟随控制建立了分离原理，允许观测器和控制器独立设计。对于每个智能体，采用两个参数化李雅普诺夫方程（PLEs）生成两个对称正定矩阵，分别支持控制器增益和观测器增益的独立设计。为确保这两个参数互不影响，我们采用矩阵束公式来解耦相关的耦合项，并利用时变反馈来处理非线性可能产生的影响。此外，我们设计了一个混合观测器，由用于重构不可测跟随者状态的局部状态观测器和用于估计不可达领导者状态的分布式领导者状态观测器组成。值得注意的是，我们发现只要所有智能体的非线性满足线性增长型条件，且跟随者可获得领导者的非线性模型，无论是否存在事件触发控制和/或可接受的DoS攻击，分离原理都可以建立。在我们的方法中，每个智能体设计参数的选择非常简洁，仅涉及三个参数：一个用于预设收敛时间$t_f$，另外两个分别用于控制器和混合观测器。此外，一旦系统阶数确定，后两个参数可以从明确的允许范围内独立选择。数值仿真验证了所提方法的有效性。
英文摘要
Despite the recent development of control theory for multi-agent systems (MASs), the highly desirable separation principle is difficult to establish even for linear MASs, let alone for nonlinear ones that rely solely on output measurements under denial-of-service (DoS) attacks. This paper establishes a separation principle for distributed leader-following control of this class of nonlinear MASs, allowing the observer and the controller to be designed independently. For each agent, two parametric Lyapunov equations (PLEs) are employed to generate two symmetric positive-definite matrices, which respectively support the independent design of the controller gain and the observer gain. To ensure that these two parameters do not affect each other, we adopt a matrix pencil formulation to decouple the relevant coupled terms and exploit time-varying feedback to handle potential impacts arising from nonlinearities. Furthermore, we design a hybrid observer that consists of a local state observer for reconstructing unmeasurable follower states and a distributed leader state observer for estimating the inaccessible leader state. Notably, we find that as long as the nonlinearity of all agents satisfies a linear-growth-type condition and the nonlinear model of the leader is available for followers, the separation principle can be established regardless of the presence of event-triggered control and/or admissible DoS attacks. In our method, the selection of design parameters for each agent is elegantly simple, involving only three parameters: one for the prescribed convergence time $t_f$, and the other two for the controller and the hybrid observer, respectively. Moreover, the latter two parameters can be chosen independently from explicit admissible ranges once the system order is specified. Numerical simulations verify the effectiveness of the proposed method.
