模糊多智能体系统的H∞一致跟踪控制  

Fuzzy⁃model⁃based H∞consensus tracking control of multi⁃agent systems

作　　者：于家凤[1,2] 李沁生 邢文[4] 韩春松 冯茂岩 YU Jiafeng;LI Qinsheng;XING Wen;HAN Chunsong;FENG Maoyan(School of Marine&Electrical&Intelligent Engineering,Jiangsu Maritime Institute,Nanjing 211170;School of Electrical and Electronic,The University of Adelaide,Adelaide SA 5005,Australia;School of Mechatronic Engineering and Automation/Shanghai Key Laboratory of Power Station Automation Technology,Shanghai University,Shanghai 200072;College of Automation,Harbin Engineering University,Harbin 150001;School of Mechanical and Electrical Engineering,Qiqihar University,Qiqihar 161002)

机构地区：[1]江苏海事职业技术学院轮机电气与智能工程学院,南京211170 [2]阿德莱德大学电子电气学院,澳大利亚阿德莱德5005 [3]上海大学机电工程和自动化学院/上海电站自动化技术重点实验室,上海200072 [4]哈尔滨工程大学自动化学院,哈尔滨150001 [5]齐齐哈尔大学机电工程学院,齐齐哈尔161002

出　　处：《南京信息工程大学学报（自然科学版）》2020年第3期305-310,共6页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：江苏省自然科学基金(BK20191457);江苏省现代教育技术研究课题(61980)重点项目;黑龙江省自然科学基金(F2017028);黑龙江省省属高等学校基本科研业务费科研项目(135109242,135409426,135409102)。

摘　　要：本文研究非线性多智能体系统在有向拓扑下的领导跟随H∞一致性问题.首先,提出一种新的多项式模糊建模方法来描述由领导者与跟随者构建的偏差动态系统.然后,设计一致控制协议使跟随者渐近跟踪领导者的轨迹.基于多项式李雅普诺夫函数技术,提出松弛的渐近一致的充分条件并确保存在外界干扰时多智能体系统具有H∞抑制性能.将导出的条件转化为平方和形式并能够进行数值求解.最后,给出一个实例来验证所提出的一致控制协议的有效性.This paper is concerned with the H∞consensus problem for nonlinear leader⁃follower multi⁃agent systems(MASs)with a directed communication network.A polynomial fuzzy modeling approach is proposed to de⁃scribe the error system which is formulated by leader and follower agents.Then,the consensus control protocols are designed for MASs to enforce all the followers to track the trajectory of a leader asymptotically.Based on the polyno⁃mial Lyapunov function method,sufficient conditions are presented to ensure the consensus for MASs subject to ex⁃ternal disturbances.The obtained conditions are converted into sum of squares and can be numerically solved.Final⁃ly,a simulation example is provided to demonstrate the effectiveness of the derived theoretical results.

关 键 词：多智能体系统 模糊模型 H∞一致性 有向拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]