具有输入量化和执行器故障的非线性多智能体系统的自适应包容控制  

Adaptive containment control of nonlinear multi-agent systems with input quantization and actuator faults

作　　者：石琳 武力兵[1] SHI Lin;WU Libing(School of Science,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学理学院,辽宁鞍山114051

出　　处：《高师理科学刊》2024年第7期15-27,共13页Journal of Science of Teachers＇College and University

基　　金：辽宁省自然科学基金面上项目(2022-MS-356);辽宁省教育厅自然科学基金面上项目(LJKZ0284,2020LNJC11)。

摘　　要：研究了一类具有输入量化、外部扰动及动态领导者的非线性严格反馈多智能体系统的自适应容错包容控制问题.通过建立带有未知估计的阻尼项、正时变积分函数、一阶滤波器和补偿信号的参数更新律,提出了一种自适应反步控制方案.该方案在补偿滤波误差的同时在虚拟控制律中引入新的光滑函数来降低量化的影响,利用有界估计法克服了故障只能发生有限次的限制,保证所有跟随者的输出收敛于领导者的输出所形成的凸包内,且所有的信号都是有界的.仿真结果验证了该方案的有效性.The adaptive fault-tolerant containment control problem for a class of nonlinear strict feedback multi-agent systems with input quantization,external disturbances and dynamic leaders are studied.An adaptive backstepping control scheme is proposed by establishing a parameter update law with an unknown estimated damping term,a positive time-varying integral function,a first-order filter,and a compensating signal.This scheme mitigates the effect of quantization by introducing a new smoothing function in the virtual control law while compensating the filtering error,uses bounded estimation method to overcome the limitation that faults can occur only a finite number of times,guarantees the outputs of all followers converge within the convex hull formed by the outputs of the leaders,and all signals are bound.Simulation results verified the effectiveness of the proposed scheme.

关 键 词：多智能体系统 输入量化 执行器故障 自适应反步控制 包容控制 

分 类 号：O231.2[理学—运筹学与控制论]