基于时变障碍Lyapunov方法的非线性多智能体系统的一致性控制  

Practical Fixed Time Consistent Control for Nonlinear Multi-agent Systems Based on Time-varying Barrier Lyapunov Function Method

作　　者：梁智李慧 彭钧敏 许金龙 LIANG Zhilihui;PENG Junmin;XU Jinlong(College of Electrical and Information Engineering,Hunan University of Technology,Zhuzhou 412000,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412000

出　　处：《电工技术》2024年第6期8-13,共6页Electric Engineering

摘　　要：针对不确定非线性多智能体系统(MASs),采用基于时变的积分型障碍李雅普诺夫函数(IBLF)的方法,提出了一种实用的固定时间下的一致性控制框架。利用BLF的鲁棒性来解决未知非线性问题,而不是采用模糊逻辑系统/神经网络逼近,IBLF作为该方法的一个突破,是对状态变量的直接约束,其中特殊函数约束(其约束边界与状态变量和时间都有关)是更为新颖的研究内容。在控制器设计过程中通过插入了一个分段可微的位移函数来预先指定状态变量收敛并达到全局一致的逼近时间,并且结合IBLF可以对状态变量的初值条件进行拓展,保证了对于任意初始输出状态,所有智能体的输出都能实现实际的固定时间一致跟踪,并且闭环系统中的所有信号都是有界的。For uncertain nonlinear multi-agent systems(MASs),a practical consistent control framework under fixed time is proposed by using time-varying Integral Barrier Lyapunov function(IBLF).In this paper,the robustness of BLF is used to solve the unknown nonlinear problem,rather than fuzzy logic system/neural network approximation.As a breakthrough of this method,IBLF is a direct constraint on the state variables.Among them,it is more novel to study the special function constraint(whose constraint boundary is related to both state variables and time).In the controller design process,a piecewise differentiable displacement function is inserted to specify the convergence time of the state variable and reach the globally consistent approximation time in advance,and the initial value condition of the state variable can be extended in combination with IBLF,so as to ensure that the output of all agents can realize actual fixed time consistent tracking for any initial output state.And all the signals in a closed loop system are bounded.Finally the effectiveness of the proposed control method is verified by simulation results.

关 键 词：多智能体系统 一致性 固定时间 积分型李雅普诺夫障碍函数 

分 类 号：TM411[电气工程—电器]