执行器饱和不确定多智能体系统的一致性  

Consensus of uncertain multi-agent systems with actuator saturation

作　　者：景丽[1] 李宏宇 JING Li;LI Hongyu(College of Mathematics and Systems Science, Shenyang Normal University, Shenyang 110034, China)

机构地区：[1]沈阳师范大学数学与系统科学学院

出　　处：《沈阳师范大学学报（自然科学版）》2019年第3期203-209,共7页Journal of Shenyang Normal University:Natural Science Edition

基　　金：辽宁省科技厅自然科学基金资助项目(20170540823)

摘　　要：研究了无向图下一类执行器饱和不确定多智能体系统的一致性问题,提出一致性控制算法。根据Lyapunov稳定性理论,选取合适的Lyapunov函数,得到多智能体系统可以达到领航-跟随模型下半全局一致性条件。采用凸组合的方法,处理执行器饱和项。借助椭球域和多面体对系统进行吸引域估计。给出数值仿真算例,并运用MATLAB线性矩阵不等式和Simulink工具箱进行仿真,结果表明文中结论有效。In this paper, we investigate consensus problem of a class of uncertain multi-agent systems subject to actuator saturation under connected and undirected graph, a consensus control law is proposed.According to Lyapunov stability theory, a suitable Lyapunov function is chosen to obtain the condition of multi-agent systems that can achieve semi-global consensus.By applying the method of convex combination to deal with actuator saturation term, we estimate the domain of attraction with the help of ellipsoid region and polyhedron.A numerical simulation example is given and the MATLAB linear matrix inequality (LMI) and the Simulink toolbox are used to simulate.The results show that the conclusion is effective.

关 键 词：多智能体系统 一致性 执行器饱和 凸组合 吸引域估计 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]