具有有界输入领航者的二阶非线性多智能体系统的协调跟踪

COORDINATED TRACKING OF SECOND-ORDER NONLINEAR MULTI-AGENT SYSTEMS WITH AN INPUT-BOUNDED LEADER

针对领航者的控制输入为非零但有界的情形,研究了具有本质非线性动态的二阶多智能体系统的协调跟踪问题.利用邻居智能体之间的相对状态信息,分别提出了具有静态和自适应控制增益的两种控制协议.针对静态控制协议情形,基于李雅普诺夫稳定性理论得到了多智能体系统的状态全局指数达到一致时控制增益所需满足的条件.此外,在自适应控制协议作用下,证明了多智能体系统不需要借助任何全局信息就可以实现协调跟踪.最后,仿真实例验证了所得理论结果的正确性.

This paper considers the coordinated tracking problem for second-order multi-agent systems with inherent nonlinear dynamics. In particular, the leader＇s control input is nonzero but bounded. Based on the relative states between neighbor- ing agents, two distributed control protocols with, respectively, static and adaptive control gains are proposed. For the static control protocol, sufficient conditions on the control gains are obtained to ensure that the states of the followers exponentially approach the state of the leader by using a Lyapunov-based approach. For the adaptive control protocol, it is proved that the coordinated tracking problem can be solved without requiring any global information. Numerical examples are provided to demonstrate the effectiveness of our theoretical results.