Adaptive Consensus Quantized Control for a Class of High-Order Nonlinear Multi-Agent Systems With Input Hysteresis and Full State Constraints  

作　　者：Guoqiang Zhu Haoqi Li Xiuyu Zhang Chenliang Wang Chun-Yi Su Jiangping Hu 

机构地区：[1]the School of Automation Engineering,Northeast Electric Power University,Jilin 132012 [2]the Jilin Province International Research Center of Precision Drive and Intelligent Control,Jilin 132012,China [3]the School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China [4]the Department of Mechanical and Industrial Engineering,Concordia University,QC,Montreal,H3B 1R6,Canada [5]the School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China(

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第9期1574-1589,共16页自动化学报（英文版）

基　　金：the National Natural Science Foundation of China(61673101,61973131,61733006,U1813201);the Science and Technology Project of Jilin Province(20210509053RQ);the Fourteenth Five Year Science Research Plan of Jilin Province(JJKH20220115KJ)。

摘　　要：For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent system.By constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is required.The stability analysis has proved that all signals of the closed-loop are semi-globally uniformly bounded.The Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.

关 键 词：Adaptive quantized control barrier Lyapunov function input hysteresis multi-agent systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]