死区输入多智能体系统的分布式迭代学习控制  

Distributed Iterative Learning Control for Multi-Agent Systems with Dead Zone Input

作　　者：杨娜娜[1] 黎锁平[1] 周永强[1] YANG Nana;LI Suoping;ZHOU Yongqiang(School of Science,Lanzhou University of Technology,Lanzhou 730050)

机构地区：[1]兰州理工大学理学院,兰州730050

出　　处：《系统科学与数学》2022年第12期3149-3162,共14页Journal of Systems Science and Mathematical Sciences

基　　金：甘肃省教育厅创新基金项目(2021A-025,2022A-019);甘肃省科技计划项目(甘肃省自然科学基金)(22JR5RA273);国家自然科学基金项目(61663024);兰州理工大学红柳一流学科发展计划支持资助课题。

摘　　要：针对一类具有未知死区输入的多智能体系统,在迭代学习控制框架下,利用自适应控制,设计具有差分型自适应学习律的时变增益;用微分型的参数自适应学习律估计未知死区输入函数的斜率,并基于双曲正切函数构造一个辅助控制来补偿剩余的项,避免了震颤现象的发生.通过构造合适的复合能量函数,分析和证明跟随者在有限时间区间[0,T]上精确跟踪上领导者,且保证闭环系统的所有信号都有界.For a class of multi-agent systems with unknown dead-zone input,under the framework of iterative learning control,a time-varying gain with differential adaptive learning law is designed by using adaptive control;a differential parameter adaptive learning law is used to estimate the slope of the unknown dead zone input function,and an auxiliary control is constructed based on the hyperbolic tangent function to compensate for the remaining terms,which avoids the occurrence of chatter.By constructing an appropriate composite energy function,it is analyzed and proved that the followers can accurately track the leader on a finite time interval [0,T],and all the signals of the closed-loop system are bounded.

关 键 词：多智能体系统 迭代学习控制 自适应控制 死区输入 一致性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]