具有未知外系统的一类线性多Agent系统的事件触发鲁棒合作输出调节

Yangyang Qian , Lu Liu
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引用次数: 0

摘要

本文通过事件触发控制(ETC)研究了一类具有未知外系统的异构不确定线性多代理系统的鲁棒协同输出调节问题。通过利用内部模型方法和自适应控制技术,为每个代理构建了一个分布式自适应内部模型。然后,基于该内部模型,提出了一种由分布式事件触发自适应输出反馈控制法和分布式动态事件触发机制组成的全分布式 ETC 策略,其中每个代理在各自的触发时间时刻更新其控制输入。研究表明,在所提出的 ETC 策略下,既不需要与通信拓扑相关的全局信息,也不需要每个代理和外系统中不确定或未知参数的边界,就能解决稳健的合作输出调节问题。我们提供了一个数值示例来说明所提控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

This paper investigates the robust cooperative output regulation problem for a class of heterogeneous uncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizing the internal model approach and the adaptive control technique, a distributed adaptive internal model is constructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed of a distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggering mechanism is proposed, in which each agent updates its control input at its own triggering time instants. It is shown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solved without requiring either the global information associated with the communication topology or the bounds of the uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided to illustrate the effectiveness of the proposed control strategy.

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