含未知控制方向的多智能体系统输出同步控制  

Output synchronization control of multi-agent systemwith unknown control direction

作　　者：陈宇翔 彭钧敏 CHEN Yuxiang;PENG Junmin(Architectural Engineering Institute,Yiwu Industrial&Commercial College,Yiwu 322000,China;College ofElectrical and Information Engineering,Hunan University of Technology,Zhuzhou 412007,China)

机构地区：[1]义乌工商职业技术学院建筑工程学院,浙江义乌322000 [2]湖南工业大学电气与信息工程学院,湖南株洲412007

出　　处：《浙江工业大学学报》2023年第3期305-311,共7页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金资助项目(61903136);浙江省建设厅建设科研项目(2021K257);湖南省自然科学基金资助项目(2021JJ40182);湖南省教育厅优秀青年基金资助项目(20B172)。

摘　　要：研究了在有向通信图拓扑条件下,由多个高阶非线性个体组成的多智能体系统分散控制问题,其中个体模型包含不确定参数和未知控制方向。提出了一种分散控制器的反推设计方法,可在保证系统整体有界的同时,实现输出同步。有别于已有文献中常用的基于李雅普诺夫函数的证明方法,采用反证法进行论证,同时在证明过程中,Nussbaum函数直接参与了分析函数的构造,而非出现在其导数中,不仅简化了证明过程,而且拓展了该方法的适用范围。仿真结果验证了该方案的有效性。This paper is concerned with the decentralized control problem of multi-agent system composed of multiple high-order nonlinear individuals under the condition of directed communication graph topology is studied,in which the individual model contains uncertain parameters and unknown control direction.A reverse design method of decentralized controller is proposed,which can achieve output synchronization while ensuring the overall boundedness of the system.Different from the commonly used proof method based on Lyapunov function in the existing literatures,an inductive contradiction argument is employed for proof.Meanwhile,the Nussbaum function directly participates in the construction of the analysis function,not in its derivatives.It not only simplifies the proving process,but also extends the application scope of this method.Finally,simulation results verify the effectiveness of the scheme.

关 键 词：未知控制方向 输出同步 严格反馈 NUSSBAUM函数 

分 类 号：TP271.9[自动化与计算机技术—检测技术与自动化装置]