具有外部扰动的奇异非线性多智能体系统的事件触发跟踪控制  

Event-Triggered Leader-Following Consensus of Singular Nonlinear Multi-Agent Systems with External Disturbances

作　　者：张亚光 

机构地区：[1]上海理工大学,光电信息与计算机工程学院,上海

出　　处：《理论数学》2024年第2期695-709,共15页Pure Mathematics

摘　　要：针对Lipschitz非线性奇异多智能体系统的事件触发跟踪控制问题,研究了系统在具有外部未知扰动条件下的领导跟随一致性。引入基于采样数据的事件触发函数,有效利用了网络带宽和通信能量,并避免了Zeno行为发生。使用相对输出信息的扩展状态观测器,提出了一种分布式控制协议,在此协议下系统实现领导跟随一致性,并利用奇异系统理论和Lyapunov稳定性方法进行了分析和证明。最后,通过仿真实例验证了所提出方法的有效性。The consensus tracking control problem for singular multi-agent systems with Lipschitz nonline-arities and unknown disturbances is investigated. An event-triggering function based on sampled data is introduced, enabling the effective utilization of network bandwidth and communication energy while avoiding the occurrence of Zeno behavior. An extended state observer using only the relative output information is introduced and then a distributed consensus protocol is proposed. Under this protocol, the system attains leader-following consensus. The stability of the system is an-alyzed and demonstrated using singular system theory and Lyapunov stability methods. Finally, simulation examples are provided to illustrate the theoretical results.

关 键 词：奇异多智能体系统 未知扰动 LIPSCHITZ非线性 事件触发控制 扩展状态观测器 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]