基于非光滑采样控制算法的二阶有向多智能体系统一致性研究
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合肥工业大学电气与自动化工程学院

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中图分类号:

TP273

基金项目:

国家自然科学基金(62073113,62003122,61673153), 安徽省自然科学基金(2008085UD03,1808085MF180),中央高校基本科研业务费(PA2020GDKC0016)


Research on consensus of second-order directed multi-agent system based on non-smooth sampled-data control algorithm
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Affiliation:

School of Electrical and Automation Engineering, Hefei University of Technology

Fund Project:

National Natural Science Foundation of China under Grant Nos. 62073113,62003122,61673153, Natural Science Foundation of Anhui Province of China under Grant Nos. 2008085UD03, 1808085MF180, and the Fundamental Research Funds for the Central Universities of China under Grants No. PA2020GDKC0016.

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    摘要:

    本文针对二阶有向多智能体系统的一致性问题,在连续时间域和离散时间域分别提出了一种非光滑控制协议. 首先,提出一种连续时间非光滑一致性协议, 通过李雅普诺夫理论和齐次系统理论, 证明了无扰动情况下可以实现智能体状态的有限时间一致, 而有扰动情况下智能体状态之间的误差将收敛到一个与控制参数和外部扰动相关的范围内. 然后,基于采样控制,提出了离散非光滑一致性协议,进一步分析了采样周期对智能体状态之间的误差的影响, 并给出了误差收敛区间与控制参数 外部扰动和采样周期关系的显性表达式. 最后,仿真实例验证了理论的正确性和有效性.

    Abstract:

    In this paper, non-smooth control protocol is proposed in continuous time domain and discrete time domain respectively for the consensus problem of second-order directed multi-agent systems. Firstly, a continuous-time non-smooth consensus protocol is proposed. By Lyapunov theory and homogeneous system theory, it is proved that the finite time consensus of agents"" states can be achieved in the absence of external disturbance, and the errors between the agents"" states will converge to a range related to the control parameters and external disturbance in the presence of external disturbance. Then, based on sampled-data control, a discrete non-smooth consensus protocol is proposed, and the influence of sampling period on the errors between agents"" states is further analyzed and explicit expression of the influence of external disturbance, control parameters and sampling period on the errors of any two agents is given. Finally, a simulation example is given to verify the correctness and effectiveness of the theory.

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历史
  • 收稿日期:2021-03-08
  • 最后修改日期:2021-07-16
  • 录用日期:2021-07-19
  • 在线发布日期: 2021-09-01
  • 出版日期: