Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2025-01-21 DOI:10.1109/JAS.2024.124794

Linzhen Yu;Yungang Liu

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Abstract

In this paper, the multiagent systems (MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-following consensus is still pursued, with a prescribed performance and zero consensus errors. Leveraging a powerful funnel control strategy, a fully distributed and completely relative-state-dependent protocol is designed. Distinctively, the time-varying function characterizing the performance boundary is introduced, not only to construct the funnel gains but also as an indispensable part of the protocol, enhancing the control ability and enabling the consensus errors to converge to zero (rather than a residual set). Remark that when control directions are unknown, coexisting with inherent system nonlinearities, it is essential to incorporate an additional compensation mechanism while imposing a hierarchical structure of communication topology for the control design and analysis. Simulation examples are given to illustrate the effectiveness of the theoretical results.

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异构未知补偿与性能约定共识

本文研究了具有非均匀未知非线性和非相同未知控制系数的典型多智能体系统。虽然MASs的模型信息是粗糙的，但仍然追求领导者跟随的共识，具有规定的性能和零共识误差。利用强大的漏斗控制策略，设计了一个完全分布式和完全相对依赖状态的协议。独特的是，引入表征性能边界的时变函数，不仅构造了漏斗增益，而且作为协议不可或缺的一部分，增强了控制能力，使共识误差收敛到零（而不是残差集）。注意，当控制方向未知，与固有的系统非线性共存时，必须在控制设计和分析中施加通信拓扑的分层结构的同时纳入额外的补偿机制。仿真算例验证了理论结果的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.