Cooperative Approximate Output Regulation of Nonlinear Multiagent Systems: Theory and Application

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-27 DOI:10.1109/TCST.2024.3520461

Zhaowu Ping;Junyi Zhang;Hongwei Zhang

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引用次数: 0

Abstract

The cooperative output regulation problem of nonlinear multiagent systems has been intensively investigated in the control community under a standard assumption that the exact solution of regulator equations associated with each agent is available. However, this assumption is not realistic for many practical applications. To remove such restriction, this brief further studies a cooperative approximate output regulation problem of nonlinear multiagent systems. A novel distributed neural network (NN) control law is proposed, which integrates a distributed observer and NN controller. In contrast with existing results, the proposed algorithm leads to the solution of the cooperative output regulation problem for a general class of nonlinear multiagent systems, where the exact solution of regulator equations associated with each agent is unavailable. The proposed algorithm is applied to a benchmark problem of cooperative control of multiple inverted pendulum on a cart (IPC) systems and is verified by both simulation and experimental results.

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非线性多智能体系统的协同近似输出调节：理论与应用

非线性多智能体系统的协同输出调节问题在每个智能体相关的调节方程精确解存在的标准假设下得到了广泛的研究。然而，这个假设对于许多实际应用来说是不现实的。为了消除这种限制，本文进一步研究了非线性多智能体系统的合作近似输出调节问题。提出了一种集成了分布式观测器和神经网络控制器的分布式神经网络控制律。与已有的结果相比，本文提出的算法解决了一类非线性多智能体系统的协同输出调节问题，其中每个智能体相关的调节方程无法精确解。将该算法应用于小车（IPC）系统中多个倒立摆协同控制的基准问题，并通过仿真和实验结果进行了验证。

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 Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.