具有扰动的不确定非线性多智能体系统的鲁棒H∞二分一致性
Robust H∞ Bipartite Consensus for Uncertain Nonlinear Multi-Agent Systems with Disturbances
王雨蒙 1康剑灵 1杜玲珑1
作者信息
摘要
研究了符号网络上具有参数不确定性和外部扰动的一类非线性时变多智能体系统(multi-agent system,MAS)的鲁棒H∞ 二分一致性问题.采用鲁棒控制中处理不确定性的思想,将所考虑的系统转化为具有范数有界参数不确定性的时不变动力学模型.将鲁棒一致性转化为降阶H∞ 控制问题.基于李雅普诺夫稳定性理论,得到了具有期望H∞ 性能的多智能体系统鲁棒二分一致性的线性矩阵不等式(linear matrix inequality,LMI)充分条件.此外,给出了分布式静态输出反馈控制器的设计过程.进一步以二自由度(two-degree-of-freedom,2-DOF)的平面移动机器人为例,验证了所提出的控制器的有效性.
Abstract
The robust H∞ bipartite consensus problem is studied for a class of nonlinear time-varying multi-agent systems(MASs)with parameter uncertainties and external disturbances over signed networks.Following the thought of dealing with uncertainties in robust control,the considered system is transformed into a time-invariant dynamical model with norm-bounded parameter uncertainties.The robust bipartite consensus is converted to a reduced-order H∞ control problem.Based on the Lyapunov stability theory,sufficient conditions in linear matrix inequalities(LMIs)are obtained for the robust bipartite consensus of MASs with desired H∞ performance.Moreover,the design procedure of a distributed static output feedback controller is shown.Furthermore,an application for two-degree-of-freedom(2-DOF)planar mobile robots is presented to illustrate the effectiveness of the proposed controller.
关键词
鲁棒H∞控制/多智能体系统(MAS)/二分一致性/参数不确定性/输出反馈Key words
robust H∞ control/multi-agent system(MAS)/bipartite consensus/parameter uncertainty/output feedback引用本文复制引用
基金项目
National Natural Science Foundation of China(12001097)
出版年
2024
国家科技期刊平台
NSTL
万方数据