控制方向未知的多智能体系统有限时间预设性能控制  

Finite Time Prescribed Performance Control of Multi-agent Systems with Unknown Control Directions

作　　者：许金龙 彭钧敏 XU Jinlong;PENG Junmin(College of Electrical and Information Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China)

机构地区：[1]湖南工业大学电气与信息工程学院,湖南株洲412007

出　　处：《佳木斯大学学报（自然科学版）》2024年第2期117-121,128,共6页Journal of Jiamusi University：Natural Science Edition

基　　金：湖南省自然科学基金(2021JJ40182);湖南省教育厅优秀青年基金(20B172)。

摘　　要：研究了一类具有多个未知且非相同控制方向的多严格反馈系统在有限时间内预设性能控制问题。为了方便证明,将整个系统稳定性的证明转化为对子系统误差有界性的证明,简化了设计与分析过程。此外,通过命令滤波技术避免了传统反推法中对虚拟控制量的求导。所设计的分布式控制器可以保证邻域误差在规定的边界内演化,并且可以任意设定收敛时间,即在规定的时间内收敛到预先设定的任意小的邻域内,提高了系统的稳态与瞬态性能。最后,通过一个数值仿真验证了所提控制器的有效性。A class of multi-strict feedback systems with multiple unknown and non-identical control directions are investigated for a prescribed performance control problem in finite time.To facilitate the proof,the article converts the proof of the stability of the whole system into the proof of the boundedness of the subsystem errors,which simplifies the design and analysis process.In addition,the derivation of virtual control quantities in the traditional back propagation method is avoided by the command filtering technique.The designed distributed controller can ensure that the neighborhood error evolves within the specified bound and can set the convergence time arbitrarily,i.e.,converge to a predefined arbitrarily small neighborhood within the specified time,improving the steady-state and transient performance of the system.Finally,the effectiveness of the proposed controller is verified by a numerical simulation.

关 键 词：多智能体系统 预设性能控制 未知控制方向 命令滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]