摘要
针对带有非线性动态的高阶多智能系统,本文提出了基于观测器的一致性和自适应控制算法.在一致性算法中加入了历史信息,并且参数增益采用自适应律控制的策略.利用Lyapunov函数、稳定性理论、图论和线性矩阵不等式技巧,得到多智能体系统一致性的充分条件.最后通过数值仿真结果验证该算法的有效性.
For high-order multi-agent systems with nonlinear dynamics,consensus algorithms and adaptive laws based on observer mechanism are proposed in the paper.Additionally,history information of agent’s states are added in consensus algorithms.Furthermore,parameter gains are decided by adaptive control laws.By applying the Lyapunov function,stability theory,graph theory and linear matrix inequalities techniques,sufficient consensus conditions for multi-agent systems are obtained.Finally,results of numerical examples are used to verify the effectiveness of the proposed algorithms.
作者
李刚
苗国英
张静怡
LI Gang;MIAO Guoying;ZHANG Jingyi(School of Automation,Nanjing University of Information Science & Technology,Nanjing 210044;Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology,Nanjing University of Information Science & Technology,Nanjing 210044)
出处
《南京信息工程大学学报（自然科学版）》
CAS
2019年第4期373-379,共7页
Journal of Nanjing University of Information Science & Technology（Natural Science Edition）
基金
国家重点研发计划(2018YFC1405703)
