1.Yanshan University;2.Hebei Agricultural University
The National Natural Science Foundation of China (61503323), the National Natural Science Foundation of Hebei Province (F2017203130), the General Project of Natural Science Foundation of Hebei Province (F2020203105).
本文研究了有向通信图下非线性多智能体系统的一致控制问题. 首先, 通过引入性能函数, 使输出误差满足预定性能. 其次, 采用障碍Lyapunov函数, 保证所有状态满足约束条件. 结合李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii, LK)泛函和杨氏不等式消除状态时延的影响, 利用径向基函数神经网络(Radial Basis Function Neural Networks, RBF NNs)逼近未知非线性函数. 再次, 设计自适应事件触发控制器, 实现所有智能体的输出一致性. 基于Lyapunov稳定性理论证明闭环系统半全局一致有界稳定. 最后, 通过对比仿真验证所设计控制策略的有效性.
In this paper, the consensus control problem for a class of nonlinear multi-agent systems under a directed communication graph is investigated. Firstly, by introducing the performance function, output error satisfy prescribed performance. Then, the full states constraints problem is solved by employing the Barrier Lyapunov function.Lyapunov-Krasovskii functional and Young"s inequality are used to eliminate the effects of state time-delays.The Radial Basis Function Neural Networks are used to approximate the unknown nonlinear function.Furthermore, an adaptive event-triggered controller is proposed, such that the outputs of all agents can achieve the consensus. According to the Lyapunov stability theory, the closed-loop systems are semi-globally uniformly bounded stability. Finally, the validity of the designed control strategy is verified by simulation.