一类受到未知外部干扰的多智能体系统学习协同控制  

Learning cooperative control of a class of multi-agent systems with unknown external disturbances

作　　者：杨娜娜[1] 孟新友[1] 玄海燕[2] YANG Na-na;MENG Xin-you;XUAN Hai-yan(School of Science,Lanzhou Univ.of Tech.,Lanzhou 730050,China;School of Economics and Management,Lanzhou Univ.of Tech.,Lanzhou 730050,China)

机构地区：[1]兰州理工大学理学院,甘肃兰州730050 [2]兰州理工大学经济管理学院,甘肃兰州730050

出　　处：《兰州理工大学学报》2021年第3期70-77,共8页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(11661050,11261031)。

摘　　要：针对一类受到未知外部干扰的多智能体系统,在迭代学习控制框架下,结合自适应控制,首先设计了具有微分型参数自适应律的时变增益,同时,为了补偿未知外部干扰,设计了辅助控制器;通过构造复合能量函数,基于类Barbalat引理,证明了区间[0,T]上的完全一致性.其次,借助坐标变换,将编队问题转化为一致性问题.最后,通过一个仿真算例验证了所提算法的有效性.For the multi-agent systems with unknown external interferences,in the framework of iterative learning control,combined with adaptive control,firstly,a time-varying gain with differential parameter adaptive law is designed,at the same time,in order to compensate the unknown external interferences,the auxiliary control protocol is proposed.By constructing the composite energy function and based on Barbalat-like lemma,the perfect consensus on the interval[0,T]is proved.Secondly,the formation problem is transformed into the consensus problem by the coordinate transformation.Finally,the effectiveness of the proposed algorithm is verified using a simulation example.

关 键 词：多智能体系统 迭代学习控制 未知外部干扰 一致性 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] O415.5[自动化与计算机技术—计算机科学与技术]