具有未知增长率的一类上三角非线性多智能体系统的协同控制
Cooperative Control for a Class of Upper-triangular Nonlinear Multi-agent Systems with Unknown Growth Rates
孙泽泽 1李武全1
作者信息
- 1. 鲁东大学 数学与统计科学学院,山东 烟台 264039
- 折叠
摘要
基于有向领导者-追随者型的网络拓扑结构,研究了一类具有未知增长率的上三角非线性多智能体系统的协同控制问题.首先,通过引入坐标变换,将原系统转换为带有时间增益的等效系统;其次,针对标称系统进行控制器设计,获得原系统的分布式时变状态反馈控制器.所设计的控制器能够保证追随者与领导者的输出跟踪误差有界,且闭环系统所有信号有界.最后,利用仿真实例验证了控制方案的有效性.
Abstract
This paper concerns the cooperative control for a class of upper-triangular nonlinear multi-agent sys-tems with unknown growth rates under the directed leader-followers type network topology.Firstly,the original system was transformed into an equivalent one with a time gain by introducing a coordinate transformation.Sec-ondly,a distributed time-varying state feedback controller for the nominal system was designed.It is proved that the followers can achieve bounded output tracking of the leader,and all signals of the closed-loop system are bounded by the designed controller.Finally,the effectiveness of the control scheme was verified through a sim-ulation example.
关键词
未知增长率/上三角非线性多智能体系统/协同控制/时变状态反馈Key words
unknown growth rates/upper-triangular nonlinear multi-agent systems/cooperative control/time-va-rying state-feedback引用本文复制引用
出版年
2024
NETL
NSTL
万方数据