状态时延和全状态约束下的多智能体系统自适应事件触发控制  

Adaptive event-triggered control for multi-agent systems with state timedelays and full state constraints

作　　者：范利蓉 王芳[1] 周超[2] 王坤[1] FAN Li-rong;WANG Fang;ZHOU Chao;WANG Kun(School of Science,Yanshan University,Qinhuangdao 066004,China;Ocean College,Hebei Agricultural University,Qinhuangdao 066003,China)

机构地区：[1]燕山大学理学院,河北秦皇岛066004 [2]河北农业大学海洋学院,河北秦皇岛066003

出　　处：《控制与决策》2022年第4期892-902,共11页Control and Decision

基　　金：国家自然科学基金项目(61503323);河北省自然科学基金面上项目(F2020203105);河北省自然科学基金项目(F2017203130).

摘　　要：研究有向通信图下非线性多智能体系统的一致控制问题.首先,通过引入性能函数,使输出误差满足预定性能;其次,采用障碍Lyapunov函数,保证所有状态满足约束条件,结合李雅普诺夫-克拉索夫斯基(Lyapunov Krasovskii,LK)泛函和杨氏不等式消除状态时延的影响,利用径向基函数神经网络(radial basis function neural networks,RBF NNs)逼近未知非线性函数;再次,设计自适应事件触发控制器,实现所有智能体的输出一致性,并基于Lyapunov稳定性理论证明闭环系统半全局有界稳定;最后,通过对比仿真验证所设计控制策略的有效性.This paper studies the consensus control problem for a class of nonlinear multi-agent systems under a directed communication graph.Firstly,the performance function is introduced to make the output error satisfy prescribed performance.Then,the full state constraints problem is solved by employing the Barrier Lyapunov function.The Lyapunov-Krasovskii functional and Young’s inequality are used to eliminate the effects of state time-delays.The radial basis function neural networks are used to approximate the unknown nonlinear function.Furthermore,an adaptive eventtriggered controller is proposed,such that the outputs of all agents can achieve the consensus.According to the Lyapunov stability theory,the closed-loop systems are semi-globally bounded stability.Finally,the validity of the designed control strategy is verified by simulation.

关 键 词：多智能体系统 状态时延 事件触发控制 全状态约束 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]