控制理论(社会学)
稳健性(进化)
计算机科学
Lyapunov稳定性
非线性系统
李雅普诺夫函数
控制器(灌溉)
协议(科学)
多智能体系统
线性矩阵不等式
控制(管理)
控制工程
数学优化
数学
工程类
人工智能
医学
生物化学
化学
物理
替代医学
病理
量子力学
生物
农学
基因
作者
Yuanxing Zhang,Yanmei Tang,Shiyu Qian,Jing Xu,Yugang Niu
摘要
Abstract It is well known that control effort is the key factor considered in formation control of a multi‐agent system (MAS). To reduce the controller effort, an economic event‐triggered super twisting control (STC) protocol for the formation tracking of a nonlinear MAS, which avoids the unnecessary computations and transmission of control inputs among agents. Specifically, a distributed leader‐follower control framework, combing the multi‐input STC with event‐triggered strategy, is proposed to ensure that the followers' states reach an agreement on the leaders state. Then, the sufficient conditions for the selection of controller parameters are formulated in terms of linear matrix inequalities (LMIs). On this basis, the event‐triggered conditions for implementing the STC protocol in the network environment are obtained using Lyapunov stability theory. Simulation study is carried out to demonstrate the effectiveness and merits of the STC in terms of formation construction, trajectory tracking, and robustness to system uncertainties.
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