摘要
已有的多智能体系统一致性控制研究大多局限于个体动态为一阶积分器和二阶积分器的分析和综合。然而现有理论成果所采用的低阶线性化模型过于简单,导致多智能体理论研究与实际应用脱节。以高阶非线性多智能体系统一致性控制为主线,考虑含有未建模动态和有界未知扰动的高阶非线性多智能体一致性控制问题。由于未建模动态的非线性函数满足Lipschitz条件,利用模糊逻辑系统逼近器估计系统未建模动态,结合分布式自适应控制处理逼近器中的未知参数调节问题,将未建模动态的逼近误差当做一类扰动与外部扰动共同用鲁棒控制方法处理,设计分布式鲁棒控制器。
The study on consistency control of the multi-agent system is mostly limited to the analysis and synthesis of dy- namic first-order integrator and second-order integrator. However, the lower-order linear model adopted by the existing theoretical results is too simple, and leads to the disjoint of the theoretical research and practical application of multi-agent system. Taking the consistency control of high-order nonlinear multi-agent system as the main line, the consistency control problem of the high- order nonlinear multi-agent system including unmodeled dynamics and bounded unknown disturbance is considered. Since the unmodeled dynamic nonlinear function satisfies the Lipschitz condition, the approximator of fuzzy logic system is used to esti- mate the unmodeled dynamic system. In combination with the unknown parameter adjustment problem in approximator processed with the distributed adaptive control, the approximation error of the unmodeled dynamics are treated as a class disturbance and external disturbance processed with the robust control method. The distributed robust controller was designed.
出处
《现代电子技术》
北大核心
2017年第5期105-108,114,共5页
Modern Electronics Technique
