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
This paper studies the leader-following adaptive tracking control problem for multi-agent systems comprising a leader agent and N follower agents with uncertain nonlinear dynamics.Specifically,a novel event-triggered ...This paper studies the leader-following adaptive tracking control problem for multi-agent systems comprising a leader agent and N follower agents with uncertain nonlinear dynamics.Specifically,a novel event-triggered communication based adaptive distributed observer is developed to enable each follower agent to estimate the leader's information.Then,new forms of adaptive control law and parameter update law are designed with the estimated leader's signals.The developed distributed adaptive control strategy has several characteristics:(i)With the introduced time-varying observer gain,the designed adaptive distributed observer eliminates the need for global graph information but ensures convergence of the estimates;(ii)By appropriately designing the event-triggered mechanism,the communication frequency among follower agents is reduced in the sense that the communication rate decays over time;(iii)The newly designed adaptive control law ensures a linear estimation error equation,facilitating the development of a stable parameter update law without requiring prior knowledge of uncertain system parameters.The stability of closed-loop system and leader-following asymptotical tracking are achieved.Simulation study demonstrates the theoretical results.展开更多
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.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62433020,62322304,and 62173323in part by the Aeronautical Science Fund under Grant No.2024M034072001in part by the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper studies the leader-following adaptive tracking control problem for multi-agent systems comprising a leader agent and N follower agents with uncertain nonlinear dynamics.Specifically,a novel event-triggered communication based adaptive distributed observer is developed to enable each follower agent to estimate the leader's information.Then,new forms of adaptive control law and parameter update law are designed with the estimated leader's signals.The developed distributed adaptive control strategy has several characteristics:(i)With the introduced time-varying observer gain,the designed adaptive distributed observer eliminates the need for global graph information but ensures convergence of the estimates;(ii)By appropriately designing the event-triggered mechanism,the communication frequency among follower agents is reduced in the sense that the communication rate decays over time;(iii)The newly designed adaptive control law ensures a linear estimation error equation,facilitating the development of a stable parameter update law without requiring prior knowledge of uncertain system parameters.The stability of closed-loop system and leader-following asymptotical tracking are achieved.Simulation study demonstrates the theoretical results.
