执行器故障和非对称误差约束下的时延多智能体系统自适应事件触发控制  

Adaptive event-triggered control for time-delay multi-agent systems with actuator faults and asymmetric error constraints

作　　者：范利蓉 王芳[1] 周超[2] 王坤[1] Lirong FAN;Fang WANG;Chao ZHOU;Kun WANG(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,秦皇岛066004 [2]河北农业大学海洋学院,秦皇岛066003

出　　处：《中国科学：信息科学》2022年第7期1287-1301,共15页Scientia Sinica(Informationis)

基　　金：河北省自然科学基金面上项目(批准号:F2020203105);河北省自然科学基金(批准号:F2017203130)资助项目;国家自然科学基金(批准号:61503323)。

摘　　要：本文针对非线性多智能体系统一致性跟踪控制问题,设计自适应事件触发控制策略.首先,通过引入非对称障碍Lyapunov函数,使输出误差满足非对称约束条件.其次,采用Lyapunov-Krasovskii(L-K)泛函和Young不等式消除状态时延的影响.利用模糊逻辑系统逼近未知非线性函数.再次,结合有界估计法和光滑函数有效补偿执行器故障和网络引起的误差.基于Lyapunov稳定性理论证明闭环系统半全局有界稳定.最后,通过仿真验证所设计控制策略的有效性.This article proposes an adaptive event-triggered control strategy for the consensus tracking control problem in nonlinear multi-agent systems. First, by introducing the asymmetric barrier function, output error can satisfy asymmetric constraints. The Lyapunov-Krasovskii(L-K) functional and Young inequality are then used to eliminate the influence of state time delays. The fuzzy logic system is used to approximate the unknown nonlinear function. Furthermore, using a bound estimation approach and a smooth function, the effects of the actuator faults, as well as the network-induced error, are effectively compensated for. According to the Lyapunov stability theory, the closed-loop systems have 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 非对称误差约束 执行器故障 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]