非均匀采样非线性多智能体系统无模型控制

Model-Free Control for Nonlinear Multi-Agent Systems under Non-Uniformly Sampled

针对一类未知的非均匀采样非线性异构多智能体系统一致性跟踪控制问题,提出一种分布式无模型自适应控制方法。首先利用提升变量技术将各个受控的非均匀采样非线性系统转化为当前工作点处的紧格式动态线性化(CFDL)数据模型。然后引入虚拟领导者技术产生期望轨迹,根据一致性原理对各个智能体设计控制协议,保证所有智能体的期望轨迹跟踪的一致性。再利用非线性理论中的Lischitz条件分析所提方法的稳定性,给出算法在固定通信拓扑下的收敛条件。所提方法具有如下特点:分布式控制器的设计仅需要输入和输出数据,以及邻居智能体的输出数据;控制算法计算量小,容易实现。最后,通过仿真实例验证了所提方法的有效性。

For the consistency tracking control problem of an unknown non-uniform sampling nonlinear heterogeneous multi-agent system,a distributed model-free control method is proposed.First of all,lifting variable technology was used to transform each controlled non-uniform sampling nonlinear system into a compact format dynamic linearization(CFDL)data model at the current operating point.Then,the virtual leader technology was introduced to generate the desired trajectory,and the control protocol was designed for each agent according to the consistency principle to ensure the consistency of the desired trajectory tracking of all agents.On this basis,the Lischitz condition in the nonlinear theory was used to analyse the stability of the proposed method,and the convergence conditions of the algorithm under the fixed communication topology were given.The proposed method has the following characteristics:the design of the control protocol does not require system model information,and only relies on non-uniformly sampled input and output data;the control algorithm has a small amount of calculation and is easy to implement.Finally,the simulation results verify the effectiveness of the proposed method.