状态时延和全状态约束下的多智能体系统自适应事件触发控制
作者:
作者单位:

1.燕山大学;2.河北农业大学

作者简介:

通讯作者:

中图分类号:

TP13

基金项目:

国家自然科学基金项目(61503323), 河北省自然科学基金(F2017203130).河北省自然科学基金面上项目(F2020203105)


Adaptive event-triggered control for multi-agent systems with state time-delays and full state constraints
Author:
Affiliation:

1.Yanshan University;2.Hebei Agricultural University

Fund Project:

The National Natural Science Foundation of China (61503323), the National Natural Science Foundation of Hebei Province (F2017203130), the General Project of Natural Science Foundation of Hebei Province (F2020203105).

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    摘要:

    本文研究了有向通信图下非线性多智能体系统的一致控制问题. 首先, 通过引入性能函数, 使输出误差满足预定性能. 其次, 采用障碍Lyapunov函数, 保证所有状态满足约束条件. 结合李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii, LK)泛函和杨氏不等式消除状态时延的影响, 利用径向基函数神经网络(Radial Basis Function Neural Networks, RBF NNs)逼近未知非线性函数. 再次, 设计自适应事件触发控制器, 实现所有智能体的输出一致性. 基于Lyapunov稳定性理论证明闭环系统半全局一致有界稳定. 最后, 通过对比仿真验证所设计控制策略的有效性.

    Abstract:

    In this paper, the consensus control problem for a class of nonlinear multi-agent systems under a directed communication graph is investigated. Firstly, by introducing the performance function, output error satisfy prescribed performance. Then, the full states constraints problem is solved by employing the Barrier Lyapunov function.Lyapunov-Krasovskii functional and Young"s inequality are used to eliminate the effects of state time-delays.The Radial Basis Function Neural Networks are used to approximate the unknown nonlinear function.Furthermore, an adaptive event-triggered controller is proposed, such that the outputs of all agents can achieve the consensus. According to the Lyapunov stability theory, the closed-loop systems are semi-globally uniformly bounded stability. Finally, the validity of the designed control strategy is verified by simulation.

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历史
  • 收稿日期:2020-07-29
  • 最后修改日期:2021-01-22
  • 录用日期:2021-02-10
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