Distributed robust matrix-scaled consensus control of perturbed multi-agent systems  

作　　者：Bin Cheng Gang Li Kun An Chunhui Yu 

机构地区：[1]Department of Control Science and Engineering,Tongji University,Shanghai,201804,China [2]Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai,201210,China [3]The Key Laboratory of Road and Traffic Engineering of the Ministry of Education,Tongji University,Shanghai,201804,China [4]Shanghai Sunshine Rehabilitation Center,Shanghai,201613,China

出　　处：《Control Theory and Technology》2024年第4期623-637,共15页控制理论与技术（英文版）

基　　金：supported in part by the National Key Research and Development Program of China(No.2020AAA0108905);by the National Natural Science Foundation of China(Nos.62103302,62273262,62088101);by the Shanghai Sailing Program(No.21YF1450300);by the Shanghai Chenguang Program(No.22CGA19);by the Shanghai Municipal Science and Technology Major Project(No.2021SHZDZX0100);by the Shanghai Science and Technology Planning Project(Nos.21ZR1466400,22QA1408500);by the Shanghai Municipal Commission of Science and Technology Project(No.19511132101);by the Fundamental Research Funds for the Central Universities(No.2022-5-YB-05);by the Industry,Education and Research Innovation Foundation of Chinese University(Nos.2021ZYA02008,2021ZYA03004);by the Special Fund for Independent Innovation of Aero Engine Corporation of China(No.ZZCX-2021-007).

摘　　要：Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering.This paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown disturbances.Distributed discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of disturbances.Adaptive protocols with time-varying gains obeying differential equations are also designed,which are completely distributed and rely on no global information.Using the boundary layer technique,smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous functions.As a cost,under the designed smooth protocols,the defined matrix-scaled consensus error tends to a residual set rather than zero,in which the residual bound is arbitrary small by choosing proper parameters.Moreover,distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous communications.Simulation examples are provided to further verify the designed algorithms.

关 键 词：Matrix-scaled consensus Perturbed multi-agent systems Adaptive control Distributed control Event-triggered control 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]