Distributed Adaptive Cooperative Tracking of Uncertain Nonlinear Fractional-order Multi-agent Systems  

作　　者：Zhitao Li Lixin Gao Wenhai Chen Yu Xu 

机构地区：[1]Institute of Intelligent Systems and Decision,Wenzhou University,Zhejiang 325035,China [2]College of Physics and Electronic Information Engineering,Wenzhou University,Wenzhou 325035,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第1期292-300,共9页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61303211);Zhejiang Provincial Natural Science Foundation of China(LY17F030003,LY15F030009)

摘　　要：In this paper, the leader-following tracking problem of fractional-order multi-agent systems is addressed. The dynamics of each agent may be heterogeneous and has unknown nonlinearities. By assumptions that the interaction topology is undirected and connected and the unknown nonlinear uncertain dynamics can be parameterized by a neural network, an adaptive learning law is proposed to deal with unknown nonlinear dynamics, based on which a kind of cooperative tracking protocols are constructed. The feedback gain matrix is obtained to solve an algebraic Riccati equation. To construct the fully distributed cooperative tracking protocols, the adaptive law is also adopted to adjust the coupling weight. With the developed control laws,we can prove that all signals in the closed-loop systems are guaranteed to be uniformly ultimately bounded. Finally, a simple simulation example is provided to illustrate the established result.In this paper, the leader-following tracking problem of fractional-order multi-agent systems is addressed. The dynamics of each agent may be heterogeneous and has unknown nonlinearities. By assumptions that the interaction topology is undirected and connected and the unknown nonlinear uncertain dynamics can be parameterized by a neural network, an adaptive learning law is proposed to deal with unknown nonlinear dynamics, based on which a kind of cooperative tracking protocols are constructed. The feedback gain matrix is obtained to solve an algebraic Riccati equation. To construct the fully distributed cooperative tracking protocols, the adaptive law is also adopted to adjust the coupling weight. With the developed control laws,we can prove that all signals in the closed-loop systems are guaranteed to be uniformly ultimately bounded. Finally, a simple simulation example is provided to illustrate the established result.

关 键 词：Adaptive control CONSENSUS distributed control fractional-order systems multi-agent system 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP13[自动化与计算机技术—控制科学与工程]