基于自调节有限时间预设性能函数的多智能体系统动态面状态约束量化控制  

Dynamic surface state constrained quantized control for multi-agent system with an adjustable finite-time prescribed performance function

作　　者：辛红伟[1,2] 李昊齐 祝国强 张秀宇 XIN Hong-wei;LI Hao-qi;ZHU Guo-qiang;ZHANG Xiu-yu(School of Automation Engineering,Northeast Electric Power University,Jilin 132012,China;Jilin Province International Research Center of Precision Drive and Intelligent Control,Jilin 132012,China)

机构地区：[1]东北电力大学自动化工程学院,吉林省吉林市132012 [2]吉林省精密驱动智能控制国际联合研究中心,吉林省吉林市132012

出　　处：《控制与决策》2023年第5期1319-1326,共8页Control and Decision

基　　金：吉林省科技发展计划项目(20210509053RQ)。

摘　　要：针对一类非线性多智能体系统,构建一种基于自调节有限时间预设性能函数的动态面状态约束量化控制策略.所提出控制方法的主要特点为:1)将自调节有限时间预设性能函数与屏障Lyapunov函数相结合对多智能体系统的状态进行约束,使得构建出的约束函数能够根据系统当前跟踪误差自行调节自身参数而无需人为干预;2)通过使用动态面控制方法,避免传统反步控制方法的“微分爆炸”现象,并设计滤波补偿函数消除因引入动态面方法而产生的滤波误差和信号振荡的问题;3)使用RBF神经网络逼近系统中未知非线性的同时,引入量化器以减轻系统的通讯负担,且所构建量化控制方法仅需量化器具有扇形有界性质即可.稳定性分析表明,闭环系统内所有信号均为半全局一致有界的.仿真环节验证了所提出控制策略的有效性.For a class of nonlinear multi-agent systems,an adaptive dynamic surface state constrained quantized control scheme with an adjustable finite-time prescribed performance function is investigated.The major properties of the proposed control algorithm are:1)This method is combined with the barrier Lyapunov function(BLF)to restrict the states of the multi-agent system,thus the constructed constraint function can adjust its own parameters according to the current tracking error of the system without manual intervention.2)By applying the dynamic surface control method,the“differential explosion”phenomenon of the traditional backstepping control method is avoided,and the filtered compensating function is designed to eliminate the filter error and signal chattering caused by the dynamic surface method.3)The RBF neural network is utilized to approximate the unknown nonlinearities in the system,and the quantizer is introduced to reduce the communication burden of the system.The presented quantized control strategy requires only that the quantizer has the sector bounded property.The stability analysis demonstrates that all signals of the closed-loop are semi-globally uniformly bounded.Simulation section verifies the effectiveness of the proposed control scheme.

关 键 词：多智能体系统 屏障Lyapunov函数 动态面控制 神经网络 量化控制 反步控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]