单边Lipschitz非线性多智能体系统一致性追踪控制

针对单边Lipschitz非线性多智能体系统,提出了一种分布式一致性控制方法.首先,构建了领导-跟随者动力学结构,用于实现单边Lipschitz多智能体系统的追踪控制.然后,设计了单边Lipschitz非线性多智能体系统的一致性控制协议,可根据智能体之间局部交互信息构建分布式反馈控制,并将系统的一致性追踪问题转化为系统...

Consensus tracking control for one-side Lipschitz nonlinear multi-agent systems

Focused on one-side Lipschitz nonlinear multi-agent systems, a distributed consensus control method is proposed. Firstly, the leader-following dynamic structure is constructed to realize the tracking control of the one-side Lipschitz multi-agent system. Then, an consensus control protocol is designed for the one-side Lipschitz nonlinear multi-agent systems, which can construct distributed feedback control based on the local interaction information between all the agents, and the consensus tracking problem of the system is transformed into the system stability problem. Meanwhile, using Laplacian characteristics, linear matrix inequalities and Lyapunov functions and other theories, the sufficient conditions for consensus tracking control of one-side Lipschitz nonlinear multi-agent systems are obtained. Theoretical results show that the designed controll protocol can achieve consensus tracking. Finally, a simulation example verifies the validity of the theoretical results.