This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite stead...This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.展开更多
This paper addresses the problem of achieving practical consensus in large-scale agent clusters governed by nonlinear reaction-diffusion equations,while considering actuator saturation and external disturbances.Differ...This paper addresses the problem of achieving practical consensus in large-scale agent clusters governed by nonlinear reaction-diffusion equations,while considering actuator saturation and external disturbances.Different with the traditional consensus methods,the proposed observer-based boundary control relies on non-collocated and incomplete local measurements rather than idealistic global spatiotemporal dynamics.First,the discrete agents with a chain topology are regarded as a continuum,resulting in the derivation of a reaction-diffusion equation to replace the cumbersome ordinary differential equations(ODEs).Subsequently,an observer is constructed based on the non-collocated measurements to estimate the errors between the leader-following agent clusters.Then,a sufficient condition for the consensus controller is derived by improving the Lyapunov direct method,mean value theorem of integrals and a variation of Wirtinger's inequality.Furthermore,an optimization problem is proposed to effectively enhance the H_(∞)disturbance attenuation performance in the presence of actuator saturation.Finally,the comparison simulation is given to illustrate the superiority of proposed methodology.展开更多
文摘This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.
基金supported by the National Natural Science Foundation of China under Grant Nos.62003066 and 62163008the Natural Science Foundation of Chongqing Municipality under Grant No.cstc2021jcyjmsxmX0331。
文摘This paper addresses the problem of achieving practical consensus in large-scale agent clusters governed by nonlinear reaction-diffusion equations,while considering actuator saturation and external disturbances.Different with the traditional consensus methods,the proposed observer-based boundary control relies on non-collocated and incomplete local measurements rather than idealistic global spatiotemporal dynamics.First,the discrete agents with a chain topology are regarded as a continuum,resulting in the derivation of a reaction-diffusion equation to replace the cumbersome ordinary differential equations(ODEs).Subsequently,an observer is constructed based on the non-collocated measurements to estimate the errors between the leader-following agent clusters.Then,a sufficient condition for the consensus controller is derived by improving the Lyapunov direct method,mean value theorem of integrals and a variation of Wirtinger's inequality.Furthermore,an optimization problem is proposed to effectively enhance the H_(∞)disturbance attenuation performance in the presence of actuator saturation.Finally,the comparison simulation is given to illustrate the superiority of proposed methodology.
