二阶有向网络的鲁棒有限时间包容控制  

Finite time robust containment control of second order directed networks

作　　者：于镝[1,2] 伍清河[1] 

机构地区：[1]北京理工大学自动化学院,北京100081 [2]东北石油大学电气信息工程学院,黑龙江大庆163318

出　　处：《控制与决策》2012年第10期1465-1470,共6页Control and Decision

基　　金：国家青年自然科学基金项目(61074031)

摘　　要：在考虑非线性干扰和跟随者速度不可测的情况下,研究二阶有向网络的有限时间估计和鲁棒包容控制问题.提出含有估计层、控制层和跟随者层的新型分布式控制结构.应用有限时间稳定性理论和等效输出注入的思想,设计幂次估计器和滑模估计器,并给出网络误差的有限时间估计.进而采用齐次理论和滑模方法设计非光滑控制协议,驱使跟随者在有限时间内收敛并保持在领航者所构成的动态凸包中,且有效抑制干扰.仿真结果验证了理论分析的正确性.Finite time estimation and robust containment control are studied for second order directed networks considering nonlinear disturbance and unmeasurable velocities of followers. A novel distributed architecture is proposed including estimation layer, control layer and followers layer. The power estimator and sliding mode estimator are designed to achieve the accurate estimations of network errors in finite time based on finite time stability theory and equivalent output injection thought. Then nonsmooth control protocol is developed by applying homogeneity theory and sliding mode method, so as to make followers converge and remain in the dynamic convex hull formed by the leaders in finite time and suppress disturbance effectively. Simulation results verify the correctness of the theoretical analysis.

关 键 词：有限时间估计 有限时间稳定性 齐次理论 滑模控制 包容控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]