摘要
研究具有未知外部扰动的非线性多智能体系统在非周期性间歇通信条件下的分布式领导-跟随一致性控制问题.针对存在有界扰动并且满足Lipschitz条件的非线性多智能体系统,设计分布式扩张状态观测器,该观测器能够对系统状态和总扰动进行实时估计与动态补偿.结合非周期性间歇通信的特性,提出一种具有扰动补偿能力的分布式一致性控制协议,该协议仅在通信阶段更新控制信号,在非通信阶段则保持零输入,从而在保证系统性能的同时,有效降低系统的通信负担和能量消耗.利用Lyapunov理论以及矩阵不等式相关知识证明了所提出的控制协议能够确保系统在非周期性间歇通信和未知外部扰动的复杂条件下实现领导跟随有界一致性.数值仿真实验验证了所提出控制协议的有效性.
This paper investigates the distributed leader-following consensus control problem for nonlinear multi-agent systems with external disturbances under aperiodic intermittent communication.For the considered nonlinear multiagent systems(MASs)with bounded disturbances satisfying Lipschitz continuity conditions,a distributed extended state observer(ESO)is designed to estimate and compensate the system states and aggregated disturbances in real time.Based on the characteristics of aperiodic intermittent communication,a distributed consensus control protocol with disturbance compensation capability is proposed.The protocol updates control signals only during communication phases while maintaining zero input otherwise,thus effectively reducing the communication burden and energy consumption of the system while ensuring system performance.By leveraging the Lyapunov theory and matrix inequality-related knowledge,it is proven that the proposed control protocol ensures the system can achieve leader-follower bounded consensus under complex conditions of aperiodic intermittent communication and unknown external disturbances.Numerical simulations verify the effectiveness of the presented control protocol.
作者
任微
禹梅
REN Wei;YU Mei(School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China)
出处
《控制与决策》
北大核心
2025年第12期3743-3751,共9页
Control and Decision
基金
吉林省电力有限公司科技基金项目(2024JBGS-08)
中央高校基本科研业务费专项资金项目(2025JC009)。
关键词
一致性
多智能体系统
扩张状态观测器
非周期间歇通信
非线性
扰动
consensus
multi-agent systems
extended state observer
aperiodically intermittent communications
nonlinear
disturbance
