带有未知控制增益的多智能体系统的自适应一致性

目的 研究带有未知增益的一阶多智能体系统在无向连通拓扑下的一致性.方法 设计了带有Nussbaum函数的自适应控制协议,与一般的Nussbaum函数不同,文中所选用的函数不仅有很快的变化速度而且极易求积分,另外,所提出的控制协议不需要设计增益的先验值和符号信息.结果与结论 采用Lyapunov方法,给出了最终的一致性条件,并通过仿真说明了所得结论的有效性.

Adaptive consensus of multi-agent systems with unknown control gain

Objective-To address the consensus problem for the first-order systems with unknown control gain under undirected and connected topologies. Methods-designed is an adaptive control pro- tocol with a Nussbaum-type function, which is different from the existing forms of the function, for the function we chosen not only has high speed of variation, but also can be integrated easily. Moreo- ver, the proposed control protocol does not require a priori value and symbol information of the con- trol gain. Results and Conclusion--By using the Lyapunov techniques, the condition of consensus is given. Fi- nally, a simulation example is provided to illustrate the effectiveness of the proposed consensus protocol.