非线性网络有限时间分布式跟踪控制  

Finite time distributed tracking control of nonlinear networks

作　　者：于镝[1,2] 伍清河[1] 王垚[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》2013年第10期1491-1496,1501,共7页Control and Decision

基　　金：国家青年自然科学基金项目(61074031)

摘　　要：针对具有本质非线性动态的多智能体网络,基于微分包含理论研究有限时间协调跟踪问题.假设非线性动态满足Lipschitz条件且只有部分智能体已知目标动态,设计分布式混杂控制协议,应用非光滑稳定性分析方法给出系统实现有限时间跟踪的充分条件.若无向切换拓扑保持连通或有向拓扑具有生成树且强连通部分满足细致平衡条件,则选取合适的控制增益参数均能实现有限时间跟踪.最后通过仿真实验表明了所提出方案的有效性和正确性.The finite time coordinated tracking problem is studied for multi-agent networks with inherent nonlinear dynamics based on the differential inclusions theory. The distributed hybrid control protocol is designed assuming that nonlinear dynamics are satisfied with Lipschitz condition and only a subset of agents know objective dynamics. Sufficient conditions are developed to achieve finite time tracking by applying nonsmooth stability analysis methods. Finite time tracking can be achieved with suitable control gain for the undirected switching topology keeping connected and the directed topology containing a spanning tree with detail-balanced strongly connected components. Simulation results verify the effectiveness and correctness of the theoretical analysis.

关 键 词：非线性网络 有限时间跟踪 微分包含 非光滑稳定性分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]