满足指定性能的一类非线性多智能体系统的协同控制  

Consensus Control for a Class of Nonlinear Multi-agent Systems with Prescribed Performance

作　　者：王巍[1] 于洋[1] 

机构地区：[1]辽宁工业大学电气工程学院,辽宁锦州121001

出　　处：《辽宁工业大学学报（自然科学版）》2015年第5期281-284,共4页Journal of Liaoning University of Technology(Natural Science Edition)

基　　金：辽宁省教育厅科学研究一般项目(L2014244);辽宁工业大学教师科研启动基金(X201313)

摘　　要：针对一类不确定非线性多智能体系统,研究满足指定性能的"领导-跟随"协同控制问题。利用模糊逻辑系统辨识系统的未知动态。在多智能体系统的通信网络图单向连通的情况下,基于动态面控制技术和指定性能控制技术,提出自适应模糊协同控制算法。基于李雅普诺夫稳定性理论,可以证明"跟随者"的输出最终能够跟踪"领导者"的输出,且同步误差始终在指定界内。仿真结果进一步验证了所提协同算法的有效性。This paper investigates the consensus problem for a class of nonlinear multi-agent systems with prescribed performance. Fuzzy logic systems are utilized to identify the unknown dynamics. By combining dynamic surface control and prescribed performance control techniques, an adaptive fuzzy consensus scheme is proposed under directed communication graphs. Based on Lyapunov stability theory, it is proved that the outputs of all followers can track that of the leader and the synchronization errors staying in predefined bounds. Simulation results are provided to demonstrate the effectiveness of the proposed consensus approach.

关 键 词：多智能体系统 协同控制 指定性能控制 动态面控制 

分 类 号：TP35[自动化与计算机技术—计算机系统结构] TP38[自动化与计算机技术—计算机科学与技术]