This paper proposes an observer-based prescribedtime consensus tracking control method for nonlinear multiagent systems with unknown virtual control coefficients. Existing prescribed-time distributed observers require...This paper proposes an observer-based prescribedtime consensus tracking control method for nonlinear multiagent systems with unknown virtual control coefficients. Existing prescribed-time distributed observers require information about leader input dynamics, which is unavailable in many practical applications. To address the above issue, this paper proposes an improved prescribed-time strategy as a foundation. Then, an auxiliary system is constructed, which removes restrictions on leader input information. With the assistance of such a system, a distributed observer is synthesized, which enables a prescribed-time observation of leader state signals. Meanwhile, by decomposing the virtual control coefficient, a prescribed-time compensation law is investigated to handle nonlinear dynamics and unknown virtual control coefficients. In addition, a prescribed-time control protocol is formulated, which drives the stabilization of the multiagent systems and the boundedness of all signals for any initial condition. Finally, the efficacy of the proposed control method is evaluated through simulation under three distinct conditions.展开更多
This paper investigates the prescribed-time leader-follower consensus problem of secondorder multi-agent systems(MASs)with stochastic switching directed topologies.For unknown external disturbances,a prescribed-time d...This paper investigates the prescribed-time leader-follower consensus problem of secondorder multi-agent systems(MASs)with stochastic switching directed topologies.For unknown external disturbances,a prescribed-time disturbance observer is designed to accurately estimate disturbances within a prescribed time,and a fuzzy logic system(FLS)is used to approximate the unknown nonlinear functions,which reduces the conservativeness of the control scheme.The information exchange between agents is modeled using a Bernoulli random process due to various factors influencing the communication layer.Meanwhile,a prescribed-time distributed sliding mode control(SMC)scheme is designed,ensuring that the convergence time of the MASs is independent from the initial values and other parameters of the system.Finally,the effectiveness of the proposed method is verified by a real single link robot arm system.展开更多
基金supported in part by the Natural Science Foundation of Guangdong Province (2024A1515012326, 2025A1515012109)the Pazhou Lab Youth Research Program (PZL2022KF0007)the Science and Technology Research Program of Guangzhou (2024404J9895)
文摘This paper proposes an observer-based prescribedtime consensus tracking control method for nonlinear multiagent systems with unknown virtual control coefficients. Existing prescribed-time distributed observers require information about leader input dynamics, which is unavailable in many practical applications. To address the above issue, this paper proposes an improved prescribed-time strategy as a foundation. Then, an auxiliary system is constructed, which removes restrictions on leader input information. With the assistance of such a system, a distributed observer is synthesized, which enables a prescribed-time observation of leader state signals. Meanwhile, by decomposing the virtual control coefficient, a prescribed-time compensation law is investigated to handle nonlinear dynamics and unknown virtual control coefficients. In addition, a prescribed-time control protocol is formulated, which drives the stabilization of the multiagent systems and the boundedness of all signals for any initial condition. Finally, the efficacy of the proposed control method is evaluated through simulation under three distinct conditions.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173175,61877033,and 62406132in part by the Natural Science Foundation of Shandong Province under Grant Nos.ZR2024MF032 and ZR2024QF039。
文摘This paper investigates the prescribed-time leader-follower consensus problem of secondorder multi-agent systems(MASs)with stochastic switching directed topologies.For unknown external disturbances,a prescribed-time disturbance observer is designed to accurately estimate disturbances within a prescribed time,and a fuzzy logic system(FLS)is used to approximate the unknown nonlinear functions,which reduces the conservativeness of the control scheme.The information exchange between agents is modeled using a Bernoulli random process due to various factors influencing the communication layer.Meanwhile,a prescribed-time distributed sliding mode control(SMC)scheme is designed,ensuring that the convergence time of the MASs is independent from the initial values and other parameters of the system.Finally,the effectiveness of the proposed method is verified by a real single link robot arm system.
