A chattering free consensus controller for multiple Lur'e systems with a non-autonomous leader and directed switching topology  

作　　者：WANG PeiJun YU WenWu WEN GuangHui YU XingHuo HUANG TingWen 

机构地区：[1]School of Mathematics and Statistics,Anhui Normal University,Wuhu 241000,China [2]Anhui Province Engineering Laboratory of Intelligent Robot's Information Fusion and Control,Anhui Normal University,Wuhu 241000,China [3]School of Mathematics,Frontiers Science Center for Mobile Information Communication and Security,Southeast University,Nanjing 210096,China [4]Purple Mountain Laboratories,Nanjing 21111l,China [5]Department of Electrical Engineering,Nantong University,Nantong 226019,China [6]Department of Systems Science,School of Mathematics,Southeast University,Nanjing 210096,China [7]School of Engineering,RMIT University,Melbourne VIC 3001,Australia [8]Science Program,Texas A&M University at Qatar,Doha 23874,Qatar

出　　处：《Science China(Technological Sciences)》2023年第4期1110-1118,共9页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.62003003 and 62073076);the Natural Science Foundation of Anhui Province(Grant No.2008085QF304);the Talent Programme of Anhui Province for Young Scholars。

摘　　要：Achieving asymptotical cooperative goal for multi-agent systems(MASs)with non-autonomous leaders(i.e.,leaders with nonzero inputs)is a critical but challenging issue.Traditional approach is to use discontinuous controllers which may cause chattering phenomenon in practical applications.How to achieve the asymptotical goal via a chattering free cooperative controller remains to be open so far.In this paper,an adaptive continuous controller is designed to achieve zero error consensus tracking in multiple Lur’e systems with a non-autonomous leader under directed switching topology.Firstly,an unknown input observer(UIO)based on relative outputs is given to estimate the relative full states.Then an adaptive continuous controller is designed by introducing a decay function which remains positive into the term that plays the role of eliminating the impacts of leader’s nonzero inputs.Secondly,by using multiple Lyapunov functions(MLFs)technique,it is proven that zero error consensus tracking can be achieved if the average dwell time(ADT)is greater than a positive threshold.Finally,theoretical result is verified by performing simulations on Chua’s circuits.Compared with existing work,the proposed controller can not only achieve asymptotical consensus,but also is chattering free.

关 键 词：multi-agent system CONSENSUS chattering free non-autonomous leader directed switching topology 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]