分数阶时滞不确定多智能体系统的自适应控制

Adaptive Control of Fractional Order Uncertain Multi-agent Systems with Delay

针对分数阶多智能体系统中存在的时滞、不确定性和非线性问题,提出一种含时滞不确定的分数阶多智能体系统自适应控制方法。通过设计自适应的通讯控制协议,减小了领导者和相邻智能体通讯时过大常数控制增益带来的能源浪费。输入时滞符合智能体之间的通讯延时情况,不确定项满足有界条件,非线性项满足弱化的利普希茨条件。利用图论基础、改进的分数阶稳定性定理等获得了分数阶时滞不确定非线性多智能体系统的一致性条件。整数阶是分数阶的特殊形式,分数阶是整数阶的拓展,本文结论可推广到整数阶多智能体系统中。仿真结果验证了本算法的正确性和有效性。

For the problems of delay,uncertainty and nonlinearity in fractional order multi-agent systems,an adaptive control method for fractional order uncertain multi-agent systems with delay is proposed.By designing an adaptive communication control protocol,the energy waste caused by too large constant control gain is reduced.The input delay conforms to the communication delay between agents,the uncertainty satisfies the bounded condition,and the nonlinear term satisfies the weakened Lipschitz condition.Based on graph theory and improved fractional stability theorem,the consistency conditions of fractional delay uncertain nonlinear multi-agent systems are obtained.Integer order is a special form of fractional order,and fractional order is an extension of integer order.The conclusion of this paper can be extended to integer order multi-agent systems.Simulation results verify the correctness and effectiveness of the algorithm.