无关初始条件的多智能体系统预设有限时间控制及其应用  

Preset finite time control of multi-agent system independent of initial conditions and its application

作　　者：姚纪雄 Yao Jixiong(College of Electrical and Information Engineering,Hunan University of Technolo,Zhuzhou 412007,Hunan,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：《船电技术》2025年第3期41-46,共6页Marine Electric & Electronic Engineering

摘　　要：本文研究了一类多严格反馈系统预设性能控制及其在电动无人船的应用问题,通过反步法设计了一种无关初始条件的预设性能有限时间控制方法,使得预设性能函数的选择与初始状态无关,并保证控制方向未知的多智能体系统中领导者和跟随者能输出同步且邻域误差是同步收敛的。此外,通过引入命令滤波技术避免了传统反步控制器设计方法中的“复杂度爆炸”问题,同时通过引用Nussbaum函数解决了控制方向未知的问题,最后的仿真将控制器应用在电动无人船模型中,仿真结果验证了其有效性。In this paper,the preset performance control of a class of multi-strict feedback systems and its application in electric unmanned ships are studied.A finite time control method of preset performance independent of initial conditions is designed by backstepping,which makes the selection of preset performance function independent of initial state,and ensures that the leaders and followers in multi-agent systems with unknown control direction can output synchronously and the neighborhood errors converge synchronously.In addition,the problem of"complexity explosion"in the traditional backstepping controller design method is avoided by introducing command filtering technology,and the problem of unknown control direction is solved by citing Nussbaum function.Finally,the controller is applied to the electric unmanned ship model by simulation,and the simulation results verify its effectiveness.

关 键 词：多智能体系统 无关初始条件 预设性能控制 未知控制方向 电动无人船 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]