Distributed robust matrix-scaled consensus control of perturbed multi-agent systems
Bin Cheng1
Gang Li2
Kun An3
Chunhui Yu3
1.Department of Control Science and Engineering,Tongji University,Shanghai 201804,China;Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai 201210,China2.Department of Control Science and Engineering,Tongji University,Shanghai 201804,China;Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai 201210,China;Shanghai Sunshine Rehabilitation Center,Shanghai 201613,China3.The Key Laboratory of Road and Traffic Engineering of the Ministry of Education,Tongji University,Shanghai 201804,China
摘要：Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering.This paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown disturbances.Distributed discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of disturbances.Adaptive protocols with time-varying gains obeying differential equations are also designed,which are completely distributed and rely on no global information.Using the boundary layer technique,smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous functions.As a cost,under the designed smooth protocols,the defined matrix-scaled consensus error tends to a residual set rather than zero,in which the residual bound is arbitrary small by choosing proper parameters.Moreover,distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous communications.Simulation examples are provided to further verify the designed algorithms.
机标关键词：multi-agentconsensusdistributedsystemsrobustcontrolmatrix-scaledperturbed
论文发表日期：2024-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：15( 623-637 )
英文信息