Uncoupled PID Control of Coupled Multi-Agent Nonlinear Uncertain Systems  

作　　者：YUAN Shuo ZHAO Cheng GUO Lei 

机构地区：[1]LSC, Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China. School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, China [2]LSC, Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China

出　　处：《Journal of Systems Science & Complexity》2018年第1期4-21,共18页系统科学与复杂性学报（英文版）

基　　金：supported by the National Natural Science Foundation of China under Grant No.11688101

摘　　要：In this paper, PID（proportional-integral-derivative） controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.

关 键 词：Coupled multi-agent system global stability Lipschitz condition nonlinear uncertain dynamics PID controller 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] F279.241[自动化与计算机技术—控制科学与工程]