Adaptive Containment Control for Fractional-Order Nonlinear Multi-Agent Systems With Time-Varying Parameters  

作　　者：Yang Liu Huaguang Zhang Yingchun Wang Hongjing Liang 

机构地区：[1]the College of Information Science and Engineering,Northeastern University,Shenyang 110004,China [2]the State Key Laboratory of Synthetical Automation for Process Industries,and also with the School of Information Science and Engineering,Northeastern University,Shenyang 110004,China [3]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1627-1638,共12页自动化学报（英文版）

基　　金：National Key R&D Program of China(2018YFA0702200);National Natural Science Foundation of China(61627809,62173080);Liaoning Revitalization Talents Program(XLYC1801005)。

摘　　要：This paper investigates adaptive containment control for a class of fractional-order multi-agent systems(FOMASs)with time-varying parameters and disturbances.By using the bounded estimation method,the difficulty generated by the timevarying parameters and disturbances is overcome.The command filter is introduced to solve the complexity problem inherent in adaptive backstepping control.Meanwhile,in order to eliminate the effect of filter errors,a novel distributed error compensating scheme is constructed,in which only the local information from the neighbor agents is utilized.Then,a distributed adaptive containment control scheme for FOMASs is developed based on backstepping to guarantee that the outputs of all the followers are steered to the convex hull spanned by the leaders.Based on the extension of Barbalat's lemma to fractional-order integrals,it can be proven that the containment errors and the compensating signals have asymptotic convergence.Finally,three simulation examples are given to show the feasibility and effectiveness of the proposed control method.

关 键 词：Adaptive backstepping control command filter fractional-order multi-agent system time-varying parameters 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]