随机切换和不确定目标下异质非线性多智能体系统的一致性跟踪控制  

Consensus tracking control of heterogeneous nonlinear multiagent systems with random switching and uncertain targets

作　　者：孙亚平 杨鑫松 苏厚胜[2,3] Yaping SUN;Xinsong YANG;Housheng SU(College of Electronics and Information Engineering,Sichuan University,Chengdu 610065,China;School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China;Key Laboratory of Image Processing and Intelligent Control(Huazhong University of Science and Technology),Ministry of Education,Wuhan 430074,China)

机构地区：[1]四川大学电子信息学院,成都610065 [2]华中科技大学人工智能与自动化学院,武汉430074 [3]华中科技大学图像信息处理与智能控制教育部重点实验室,武汉430074

出　　处：《中国科学：信息科学》2024年第11期2674-2688,共15页Scientia Sinica(Informationis)

基　　金：国家杰出青年科学基金(批准号:62425602);国家自然科学基金(批准号:62303336,62373262,62273159);四川大学与港澳高校种子基金(切换拓扑下异质多智能体的最优输出同步与编队避障控制);江苏省自然科学基金优秀青年基金(批准号:BK20220104);四川省自然科学基金(批准号:2023NSFSC1433)资助项目。

摘　　要：本文探讨了不确定目标下异质非线性切换多智能体系统的一致性跟踪问题,其中待跟踪的目标具有未知的控制输入且不受界的限定;所采用的随机切换机制不仅考虑了转移概率,还考虑了驻留时间.由于目标的不确定性、非线性、异质性以及随机切换特性,一致性跟踪问题很难直接用现有方法解决.因此,本文为一致性跟踪问题开发了一种新的依模态双层设计框架.基于该框架并通过引入自由矩阵和参数提出了一个新的多重李雅普诺夫函数,给出了异质非线性切换多智能体系统能几乎必然指数型一致性跟踪上不确定目标的条件.最后,通过数值仿真验证了所提控制方案的有效性.This paper investigates the consensus tracking problem of heterogeneous switched nonlinear multiagent systems with uncertain targets,where the target contains unknown input signals,and its states are not limited by bounded assumptions.Moreover,random switching not only considers the transition probability but also focuses on the dwell time.Mainly because the target is uncertain,nonlinear,heterogeneous,and randomly switched,the consensus tracking problem is rather difficult to solve by existing methods.As such,a novel mode-dependent dual-design framework for consensus tracking problems is developed.Then,a new multiple Lyapunov function is proposed by introducing free matrices and parameters.Subsequently,the criteria are given,under which heterogeneous switched nonlinear multi-agent systems can almost surely track uncertain targets with exponential consistency.Finally,a simulation case is provided to demonstrate the effectiveness of the proposed control scheme.

关 键 词：多智能体系统 一致性跟踪 非线性 随机切换 不确定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]