论文标题

具有未知时间变化的多机构系统的分布式控制:一个新型的间接框架

Distributed Control of Multi-agent Systems with Unknown Time-varying Gains: A Novel Indirect Framework for Prescribed Performance

论文作者

Li, Zeqiang, Wang, Yujuan, Huang, Xiucai

论文摘要

在本文中,建立了一个新的但间接的性能保证的框架,以解决针对网络不确定的非线性严格反馈系统的分布式跟踪控制问题,该系统在有名的交互拓扑下具有未知的时变收益。所提出的框架涉及两个步骤:在第一个步骤中,构建了一个完全分布的健壮过滤器,以估算每个代理的所需轨迹,并具有保证的观察性能,从而允许代理之间的方向是非相同的。在第二个方面,通过建立有关Nussbaum功能的新颖引理,为每个代理开发了一个新的自适应控制协议,基于后台技术,它不仅将输出引导到渐近地跟踪具有任意规定的暂时性性能的相应估计信号,而且在很大程度上扩展了允许的控制范围,并且在很大程度上扩展了范围。以这种间接的方式,潜在的问题被解决了,输出跟踪误差会收集到任意预先分配的残留套件,该残留套件表现出任意预定义的收敛速率。此外,所有内部信号都被确保最终均匀地限制(SGUUB)。最后,提供了模拟结果以说明共同设计方案的有效性。

In this paper, a new yet indirect performance guaranteed framework is established to address the distributed tracking control problem for networked uncertain nonlinear strict-feedback systems with unknown time-varying gains under a directed interaction topology. The proposed framework involves two steps: In the first one, a fully distributed robust filter is constructed to estimate the desired trajectory for each agent with guaranteed observation performance that allows the directions among the agents to be non-identical. In the second one, by establishing a novel lemma regarding Nussbaum function, a new adaptive control protocol is developed for each agent based on backstepping technique, which not only steers the output to asymptotically track the corresponding estimated signal with arbitrarily prescribed transient performance, but also largely extends the scope of application since the unknown control gains are allowed to be time-varying and even state-dependent. In such an indirect way, the underlying problem is tackled with the output tracking error converging into an arbitrarily pre-assigned residual set exhibiting an arbitrarily pre-defined convergence rate. Besides, all the internal signals are ensured to be semi-globally ultimately uniformly bounded (SGUUB). Finally, simulation results are provided to illustrate the effectiveness of the co-designed scheme.

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