二阶非线性多智能体系统的输出反馈同步控制

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大连海事大学学报 ›› 2015, Vol. 41 ›› Issue (4) : 53-58.

控制

王巍^1,2, 王丹^1*, 彭周华¹

作者信息 +

Output feedback synchronization control of second-order nonlinear multi-agent systems

WANG Wei^1,2, WANG Dan ^1*, PENG Zhou-hua¹

Author information +

文章历史 +

摘要

针对一类具有“领导者”的二阶非线性多智能体系统，提出一种输出反馈同步控制算法.该算法采用模糊逻辑系统逼近未知非线性函数，将动态面控制与指定性能控制相结合，降低了控制器设计的复杂性，而且保证了系统的暂态性能.稳定性分析证明了在多智能体系统状态不完全可测情形下，“跟随者”输出收敛于“领导者”输出的较小邻域内，并且同步误差始终保持在指定界内.以船舶航向同步控制为例，仿真验证了算法的有效性.

Abstract

An output feedback synchronization control was proposed for second-order nonlinear multi-agent systems with a leader. By using fuzzy logic systems to approximate unknown functions and combining dynamic surface control with prescribed performance control, the algorithm can not only reduce the controller complexity, but also guarantee the system transient performance. The stability analysis shows that the outputs of all followers converge to a small neighborhood of the leader with immeasurable system states, and synchronization errors remain in the predefined bounds. At last, simulations on the synchronization of autopilots demonstrate the effectiveness of the proposed algorithm.

导出引用

王巍, 王丹, 彭周华. 二阶非线性多智能体系统的输出反馈同步控制[J]. 大连海事大学学报. 2015, 41(4): 53-58

WANG Wei, WANG Dan, PENG Zhou-hua. Output feedback synchronization control of second-order nonlinear multi-agent systems[J]. Journal of Dalian Maritime University. 2015, 41(4): 53-58

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