模糊多智能体系统的H∞一致跟踪控制

Fuzzy⁃model⁃based H∞consensus tracking control of multi⁃agent systems

本文研究非线性多智能体系统在有向拓扑下的领导跟随H∞一致性问题.首先,提出一种新的多项式模糊建模方法来描述由领导者与跟随者构建的偏差动态系统.然后,设计一致控制协议使跟随者渐近跟踪领导者的轨迹.基于多项式李雅普诺夫函数技术,提出松弛的渐近一致的充分条件并确保存在外界干扰时多智能体系统具有H∞抑制性能.将导出的条件转化为平方和形式并能够进行数值求解.最后,给出一个实例来验证所提出的一致控制协议的有效性.

This paper is concerned with the H∞consensus problem for nonlinear leader⁃follower multi⁃agent systems(MASs)with a directed communication network.A polynomial fuzzy modeling approach is proposed to de⁃scribe the error system which is formulated by leader and follower agents.Then,the consensus control protocols are designed for MASs to enforce all the followers to track the trajectory of a leader asymptotically.Based on the polyno⁃mial Lyapunov function method,sufficient conditions are presented to ensure the consensus for MASs subject to ex⁃ternal disturbances.The obtained conditions are converted into sum of squares and can be numerically solved.Final⁃ly,a simulation example is provided to demonstrate the effectiveness of the derived theoretical results.