具有状态预测器的领航-跟随邻接输入饱和时滞多智能体系统的一致性  

Consensus of leader-following adjacently input saturated multi-agent systems with state predictors and delays

作　　者：景丽[1] 陈浠铭 李丽[1] JING Li;CHEN Ximing;LI Li(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,沈阳110034

出　　处：《沈阳师范大学学报（自然科学版）》2021年第3期220-223,共4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(2019ZD0482)。

摘　　要：针对具有邻接输入饱和时滞的多智能体系统,设计了状态预测器,研究了无向图下具有状态预测器的领航-跟随邻接输入饱和时滞多智能体系统的一致性问题。首先,为了使多智能体系统可以更快地达到一致,在普通全局一致控制律的基础上,加入状态预测器以预测系统状态的变化趋势,得到新的一致控制律;然后,根据Lyapunov稳定性理论,选取合适的Lyapunov函数,考虑了2种不同情况下系统的一致性控制问题;最后,证明了具有状态预测器的领航-跟随邻接输入饱和时滞多智能体系统在控制协议算法下能达到一致。文中利用扇形区域法处理饱和项,给出数值仿真算例,并运用MATLAB中的LMI以及Simulink工具箱进行仿真,结果表明文中结论有效。In this paper,a state predictor is designed for multi-agent systems with adjacently input saturation delays.We study the consensus problem of leader-following adjacently input saturated multi-agent systems with state predictors and delays in undirected graphs.Firstly,in order to make the multi-agent system reach the consensus faster,a state predictor is added to the general global consensus control laws to predict the change trend of the systems state,and a new consensus control law is obtained;secondly,according to the theory of Lyapunov stability,the appropriate Lyapunov function is selected,and the consensus control problem of the system in two different cases is considered;finally,it is proved that the leader-following adjacently input saturated multi-agent system with state predictors and delays can be consensus under the control protocol algorithm.In this paper,the sector domain method is used to deal with the saturation term.A numerical simulation example is given,and the simulation is carried out by using LMI and simulink toolbox in MATLAB.The results show that the conclusion in this paper is effective.

关 键 词：多智能体系统 一致性 状态预测器 输入饱和 时滞 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]