多智能体系统一致性控制及在多机电伺服系统中的应用  

Consistency control of multi-agent system and its application in multi-electromechanical servo system

作　　者：江文超 姬彦豹 Jiang Wenchao;Ji Yanbao(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系,湖南株洲412007

出　　处：《船电技术》2025年第3期83-87,共5页Marine Electric & Electronic Engineering

摘　　要：针对含输入饱和且控制方向未知的多严格反馈系统,设计控制器保证领导者和跟随者的同步误差是渐进收敛的。此外,通过设计命令滤波器,对虚拟控制量的导数进行估计,避免了传统反步法推导过程中对虚拟控制量的求导,同时通过引入Nussbaum函数解决控制方向未知的问题。最后将该方法运用到多机电伺服系统中,通过数据仿真验证了所有控制器的有效性,保证系统的稳定性和跟踪性。For multi-strict feedback systems with input saturation and unknown control direction,the controller is designed to ensure that the synchronization errors between the leader and the follower are asymptotically convergent.In addition,by designing the command filter,the derivative of the virtual control quantity is estimated,which avoids the derivation of the virtual control quantity in the traditional backstepping method derivation process,and solves the problem of unknown control direction by introducing Nussbaum function.Finally,the method is applied to the multi-electromechanical servo system,and the validity of all controllers is verified by data simulation,which ensures the stability and tracking of the system.

关 键 词：输入饱和 多智能体系统 非线性 未知控制方向 命令滤波器 机电伺服系统 

分 类 号：TM383.4[电气工程—电机]