基于Lipschitz非线性协议的Lipschitz多智能体鲁棒自适应输出反馈一致性的LPV方案

A. Rehman, M. Rehan, N. Iqbal, C. Ahn
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引用次数: 15

摘要

本文讨论了具有Lipschitz动力学的非线性多智能体(MA)系统在外部扰动下的鲁棒非线性自适应共识协议设计方法。在已有的基于相对输出信息的自适应协议的基础上,提出了一种改进的鲁棒非线性自适应共识协议。采用复合线性参数变化(LPV)方法重新表述了智能体动力学中的Lipschitz非线性和自适应协议。我们的复合LPV重新表述限制较少因为它利用了利普希茨函数的所有性质。基于提出的Lipschitz非线性重构、Lyapunov理论和改进的非线性共识协议,导出了达成指数共识的共识协议设计条件。通过为鲁棒自适应协议收益的直接评估提供必要和充分条件,进一步扩展了所提出的共识协议方法。所提出的全分布式共识协议具有鲁棒性,在消除干扰影响的基础上保证了共识误差和自适应增益。所得到的一致性控制方案降低了保守性,对于较大的Lipschitz常数是可行的。最后,给出了仿真结果来验证所开发的控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
LPV Scheme for Robust Adaptive Output Feedback Consensus of Lipschitz Multiagents Using Lipschitz Nonlinear Protocol
This article addresses the robust nonlinear adaptive consensus protocol design approach, for nonlinear multiagent (MA) systems under external perturbations with Lipschitz dynamics. Based on the existing results of the adaptive protocol using relative output information, a modified robust nonlinear adaptive consensus protocol for MAs is proposed. The Lipschitz nonlinearity in the agents’ dynamics and the adaptive protocol are reformulated using a composite linear parameter-varying (LPV) approach. Our composite LPV reformulation is less restrictive because it utilizes all the properties of Lipschitz functions. Consensus protocol design conditions based on the proposed reformulation of Lipschitz nonlinearities, Lyapunov theory, and the modified nonlinear consensus protocol are derived to attain the exponential consensus. The proposed consensus protocol approach is further extended by providing necessary and sufficient conditions for the straightforward evaluation of the robust adaptive protocol gains. The proposed fully distributed consensus protocol is robust to ensure the consensus error and adaptive gains bounded by eliminating the effect of disturbances. The resultant consensus control scheme reduces conservatism and is feasible for large values of Lipschitz constants. Finally, simulation results are presented for verifying the potency of the developed control strategies.
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来源期刊
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发文量
1
审稿时长
6.0 months
期刊介绍: The scope of the IEEE Transactions on Systems, Man, and Cybernetics: Systems includes the fields of systems engineering. It includes issue formulation, analysis and modeling, decision making, and issue interpretation for any of the systems engineering lifecycle phases associated with the definition, development, and deployment of large systems. In addition, it includes systems management, systems engineering processes, and a variety of systems engineering methods such as optimization, modeling and simulation.
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