离散广义多智能体系统H_(∞)滑模一致性控制  

H_(∞) Sliding Mode Consensus Control for Discrete-time Singular Multi-agent Systems

作　　者：曹洒 孔祥通 张博文 解静 CAO Sa;KONG Xiangtong;ZHANG Bowen;XIE Jing(School of Information and Control Engineering,Qingdao University of Technology,Qingdao 266525,China)

机构地区：[1]青岛理工大学信息与控制工程学院,青岛266525

出　　处：《自动化与仪表》2025年第3期1-8,13,共9页Automation & Instrumentation

基　　金：青岛市自然科学基金原创探索项目(23-2-1-156-zyyd-jch)。

摘　　要：针对具有随机信息交互的离散广义多智能体系统,用Markov过程来描述智能体之间的随机切换拓扑,研究了其受外部干扰时在H∞滑模控制下的领导-跟随可容许一致性问题。首先,设计了合适的状态观测器来近似每个跟随者的状态。然后,利用观测误差和一致性误差设计与Markov切换拓扑相关的滑模面和滑模控制律,并结合H_(∞)控制来抑制扰动。通过构造Lyapunov函数,给出了离散广义多智能体系统满足H_(∞)性能的可容许一致性的充分条件,并设计了每个智能体的控制器增益。最后通过数值算例验证了所得结果的有效性。The leader-following admissible consensus problem for discrete-time singular multi-agent systems with stochastic information interaction under H_(∞) sliding mode control is studied,and a Markov process is introduced to describe the stochastic switching topology between agents.Firstly,a suitable state observer is designed to approximate the state of each follower.Then,the sliding mode surface and sliding mode control law related to the Markov switching topology are established by using the observer error and consensus error,and the H_(∞) control problem is additionally investigated to attenuate the disturbance.By constructing Lyapunov functions,sufficient conditions are given for the discrete-time singular multi-agent systems to satisfy the admissible consensus with H_(∞) performance,and the controller gains of each agent are designed.Finally,a numerical example is given'to demonstrate the effectiveness of the obtained results.

关 键 词：离散广义多智能体系统 随机切换拓扑 MARKOV链 滑模控制 可容许一致性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]