摘要
为解决多智能体系统在有限时间跟踪控制过程中受输入饱和影响的问题,本文研究了输入饱和约束下的二阶线性多智能体系统的有限时间一致和跟踪控制.首先在无向通信拓扑下,利用齐次函数,设计了基于单饱和函数的有限时间一致和跟踪控制器.然后,应用李雅普诺夫稳定性理论和代数图论等方法证明了控制算法的稳定性.最后,给出了能够使多智能体系统实现有限时间一致和跟踪的充分条件.仿真结果验证了当系统存在输入饱和约束时,控制器能使多智能体在有限时间内完成跟踪任务.
In order to solve the problem of multi-agent systems subject to input saturation in the finite-time tracking control process,this paper studies the finite-time consensus and tracking control of the second-order linear multi-agent systems subject input saturation constraints.Firstly,in a undirected communication topology,a homogeneous function is used,finite-time consensus and tracking protocols are proposed based on single saturation function.Then,the stability of the control algorithm is proven by using Lyapunov’s stability theory and algebraic graph theory.Finally,sufficient conditions are given to enable multi-agents system to achieve consensus and tracking in finite time.Simulation results show that the protocol can complete the tracking task in finite time when multi-agent systems subject to input saturation.
作者
孙新勇
吴杰
侯至丞
张弓
杨文林
韩彰秀
SUN Xin-yong;WU Jie;HOU Zhi-cheng;ZHANG Gong;YANG Wen-lin;HAN Zhang-xiu(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou Guangdong 510640,China;Guangzhou Institute of Advanced Technology,Chinese Academy of Sciences,Guangzhou Guangdong 511458,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2020年第11期2391-2397,共7页
Control Theory & Applications
基金
中国博士后科学基金面上项目(2019M662848)
广东省自然科学基金项目(2018A030310046,2016A030313463)资助.
关键词
有限时间收敛
输入饱和
多智能体
一致性
跟踪控制
finite-time convergence
input saturation
multi-agent systems
consensus
tracking control
