基于自适应控制的非线性多智能体系统一致性

Adaptive Consensus for Nonlinear Multi-Agent Systems

针对具有本质非线性动态的多智能体系统,研究基于自适应控制协议的一致性问题。假设系统中的智能体具有不同和未知的非线性动态,智能体的非线性动态可进行线性参数化,给出了基于自适应的一致性控制协议。利用矩阵理论和Lyapunov稳定性分析的方法,得到了固定拓扑和时变情形下系统解决一致性的充分条件。仿真实例验证了理论分析的正确性和有效性。

The issue of adaptive consensus for multi-agent systems with unknown inherent nonlinear dynamics was investigated in this paper.Each agent in the network was assumed to have different and unknown nonlinear dynamics which can be linearly parameterized,and adaptive consensus protocols were proposed.By employing matrix theory and Lyapunov theory,the conditions to ensure the consensus were derived for both fixed and switching network topologies.Finally,simulation examples were presented to illustrate the theoretical results.