基于饱和脉冲切换系统无源性的多智能体一致性控制  

Consensus Control of Multi-agent Systems Based on the Passivity for Saturation Impulse Switched Systems

作　　者：任静 李晨松 REN Jing;LI Chensong(College of Mathematical Sciences,Inner Mongolia Minzu University,Tongliao 028043,China)

机构地区：[1]内蒙古民族大学数学科学学院,内蒙古通辽028043

出　　处：《内蒙古民族大学学报(自然科学版)》2025年第2期77-84,共8页Journal of Inner Mongolia Minzu University:Natural Sciences Edition

基　　金：国家自然科学基金项目(62163031,61663037);内蒙古自治区自然科学基金项目(2021MS06022);内蒙古民族大学博士科研启动基金项目(BS436)。

摘　　要：利用饱和脉冲切换系统无源性,研究二阶非线性多智能体系统的领导跟随一致性控制问题。通过在非脉冲时刻采取连续控制,在脉冲时刻采取离散控制并加入饱和约束来设计控制协议。利用Lyapunov稳定性理论,得到饱和脉冲切换系统具有无源性的充分条件,再基于饱和脉冲切换系统无源性,使得多智能体系统具有一致性,并通过数值仿真验证定理的可行性。The passivity for saturated impulse switched systems is employed to study the leader-following consensus problem of nonlinear multi-agent systems.The control protocol is designed by adopting continuous control at non-pulse moments,employing discrete control and adding saturation constrains at pulse moments.The sufficient conditions for the passivity of the saturated impulse switched systems are obtained by Lyapunov stability theory.Then,based on the passivity of the saturated impulse switched systems,the consensus of the multi-agent systems is achieved,and the feasibility of the theorem is verified by numerical simulation.

关 键 词：多智能体系统 一致性 饱和 无源 切换拓扑 

分 类 号：O231.2[理学—运筹学与控制论]