Hunan University of Technology and Business
本文研究了具有对抗交互的一类非线性多智能体系统的二分一致性跟踪控制问题,借助有向符号图来刻画智能体之间 的通信关系,并假定符号图是结构平衡的. 进一步,借助符号图网络对二分一致性跟踪问题进行公式化描述.基于最近邻原则, 结合拉普拉斯矩阵、牵制矩阵、符号函数、耦合增益参数等,设计了分布式控制律. 借助Barbalat引理, 利用李亚谱诺夫函数证明整个闭环系统的渐近稳定性,在保持闭环系统稳定的条件下推导出了耦合增益的下界. 借助仿真验证了所提出方法的有效性.
In this paper, the bipartite consensus tracking problem on one class nonlinear multi-agent systems with antagonistic interactions is investigated in details. The communication among agents is depicted as a directed signed graph, which is assumed to be structurally balanced. The bipartite consensus tracking problem is furthermore formulated by integrating with the signed graph network. Based on the nearest neighborhood rule, the distributed control law is designed accordingly with the aid of Laplacian matrix, pinning matrix, signed function and the coupling gain parameter. The asymptotic stability of the closed-loop system is rigorously proved by a Lyapunov function with the aid of Barbalat lemma. The lower bound for the coupling gain is derived to guarantee the closed-loop system be stable. The effectiveness of the proposed approach is finally verified by simulation results.