针对状态不可测的多智能体系统,研究了其在性能约束条件下输出一致性控制问题。首先,利用模糊逻辑系统对被控系统中存在的未知非线性函数进行逼近,并引入自适应模糊观测器估计不可测的状态。其次,设计了一种可保证滤波误差在有限时间内收敛的滤波器,有效地避免了分布式控制器设计过程中出现的“复杂度爆炸”问题。为了进一步实现系统的良好暂态性与稳态性能,设计了一种不依赖于误差初始条件的有限时间预设性能函数,通过设计合理的障碍函数,建立了误差性能约束系统与无约束系统之间的关系。结合反步法与有限时间动态面技术,提出了一种基于有限时间预设性能的一致性控制方案,该方案不仅保证了每一个跟随者的输出与领导者的输出最终达到同步,且一致性误差在有限时间内收敛于指定的约束范围内。最后,通过数值仿真验证了所提出方法的有效性。
This paper investigates the output consensus control problem of multi-agent systems with unmeasurable states under performance constraints. Firstly, the fuzzy logic system is used to approximate the unknown nonlinear function existed in the controlled system, and the adaptive fuzzy observer is introduced to estimate the unmeasurable state. Secondly, a filter whose filtering error can be ensured to converge in a fixed time is designed, which effectively avoids the “complexity explosion” problem in the distributed controller design process. In order to further realize better transient and steady-state performance of the system, a finite-time prescribed performance function that does not depend on the initial conditions of the error is designed. By designing an appropriate barrier function, the relationship between the error performance constrained system and the unconstrained system is established. Combining backstepping and fixed-time dynamic surface techniques, a consensus control scheme with finite-time prescribed performance is proposed. This scheme not only ensures that the output of each follower and the output of the leader finally reach synchronization, but also the consensus error converges to the specified constraint range in a finite time. Finally, the effectiveness of the proposed method is verified by numerical simulation.
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