| 引用本文: | 严求真,孙明轩,李鹤.非参数不确定多智能体系统一致性误差跟踪学习控制[J].控制理论与应用,2016,33(6):793~799.[点击复制] |
| YAN Qiu-zhen,Sun Ming-xuan,Li He.Consensus-error-tracking learning control for nonparametric uncertain multi-agent systems[J].Control Theory and Technology,2016,33(6):793~799.[点击复制] |
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| 非参数不确定多智能体系统一致性误差跟踪学习控制 |
| Consensus-error-tracking learning control for nonparametric uncertain multi-agent systems |
| 摘要点击 3676 全文点击 2530 投稿时间：2015-06-30 修订日期：2016-06-29 |
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| DOI编号 10.7641/CTA.2016.50572 |
| 2016,33(6):793-799 |
| 中文关键词 多智能体系统 迭代学习控制 一致性算法 初值问题 非参数不确定性 |
| 英文关键词 multi-agent systems iterative learning control consensus algorithm initial condition problem nonparametric uncertainties |
| 基金项目 国家自然科学基金项目(61174034, 61374103, 6157330)资助. |
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| 中文摘要 |
| 针对一类在有限时间区间上执行重复任务的主??从型非参数不确定多智能体系统, 提出一致性误差跟踪
学习控制方法, 用于解决在任意初始误差情形下的一致性问题. 根据Lyapunov综合方法设计控制器, 经过足够多次
迭代后, 藉由从智能体的一致性误差在整个作业区间上完全跟踪对应的期望一致性误差轨迹, 实现各从智能体在预
设的部分作业区间上对主智能体的零误差轨迹跟踪. 采用鲁棒策略与学习策略相结合的手段处理非参数不确定性,
利用双曲正切函数设计反馈项补偿随迭代次数变化但有界的不确定性. 仿真结果表明了该控制方案的有效性. |
| 英文摘要 |
| This paper presents a consensus-error-tracking iterative learning control method to tackle the consensus
problem for a class of leader-following non-parametric uncertain multi-agent systems, which perform a given repetitive
task over a finite interval with arbitrary initial error. The iterative learning controllers are designed by applying Lyapunov
synthesis. As the iteration increases, each following multi-agent’s consensus-error can track its desired consensus-error
trajectory, and the all following multi-agents’ states perfectly track the leader’s state on the specified interval. The robust
learning technique is applied to deal with the nonparametric uncertainties, and the hyperbolic tangent function is used to
design feedback terms, in order to compensate the cycle-varying but bounded uncertainty. Numerical results demonstrate
the effectiveness of the learning control scheme. |
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