基于非线性领导的非线性多智能体系统的全局协同鲁棒输出调节.pdf

摘要 摘 要 在过去的十多年中,多智能体的研究引起了国内外学者的广泛关注,并在军事和工程 领域中被广泛应用,如:无人机合作搜救,传感器网络和自动化高速公路等.目前,大多数研 究都是针对非线性领导的非线性多智能体系统中,控制方向已知和通信网络连接是静态的 情况,但控制方向未知和通信网络连接是切换的情况并未深入研究.本文主要研究了基于 非线性领导的非线性多智能体系统的全局协同鲁棒输出调节问题的一致性.第一,基于有 向图,在每个智能体之间具有未知的控制方向和任意大的参数变化情况下,多智能体系统 的稳定性问题；第二,在无向图下,每个智能体的通信交流是相互交换的,即考虑了具有切 换通信网络的非线性多智能体系统的稳定性问题.本文研究的主要内容： 1.研究了在统一相对阶的条件下,具有控制方向未知的非线性多智能体系统的全局协 同鲁棒输出调节问题.首先将多智能体系统的全局协同鲁棒输出调节稳定性问题转化为增 广系统的稳定性问题,然后通过Nussbaum 增益算法设计出分布式控制律,并选取了合适的 Lyapunov 函数，通过相关假设和引理,得到增广系统全局稳定的条件,且每个智能体的输出 逐渐跟踪到一类规定的信号,再利用Barbalat’s 引理证明了原闭环系统是全局稳定的.最后 通过具体实例并应用Simulink 仿真验证了所设计控制方案的有效性. 2.研究了在任意相对阶的条件下,具有切换网络的非线性多智能体系统的全局协同鲁 棒输出调节问题.首先通过非线性内部模型并利用坐标变换将原系统转化为增广系统,即 把原系统的稳定性问题转为增广系统的稳定性问题.然后,通过多Lyapunov 函数和平均驻 留时间方法得到增广系统稳定的条件,进而证明了原多智能体系统的全局稳定,最后通过 具体实例并应用Simulink 仿真验证了所设计控制方案的有效性. 关键词：非线性多智能体,增广系统,内部模型,分布式控制律,Nussbaum 函数. Ⅰ Abstract Abstract In the past ten years, distributed coordinated control problem for multi-agent systems has been extensively studied in different scenarios attention, due to its wild applications in military and engineering, such asunmanned aerial vehicle(UAV), sensor networks (WSN) and automated highway, etc. At present, most of the researches aim at nonlinear multi-agent systems with a nonlinear leader, in which the known control direction and the communication graph is static. However, little attention has been paid to the case of unknown control direction and switched communication graph.Thispaper mainly studies the cooperative global robust output regulation problem for a class of nonlinear multi-agent system with a nonlinear leader. Firstly, under the directed graph, the stabilization problem is proposed for augmented multi-agent system in the presence of unknown control direction and large parameter