Distributed tracking of heterogeneous nonlinear fractional-order multi-agent systems with an unknown leader
Distributed tracking of heterogeneous nonlinear fractional-order multi-agent systems with an unknown leader
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DOI：
10.1016/j.jfranklin.2017.01.001
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发表时间：
2017-03
期刊：
影响因子：
--
通讯作者：
Ping Gong
中科院分区：
文献类型：
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作者：
Ping Gong
利用分数Lyapunov直接方法，研究了具有异质控制增益和输入未知且有界于一般有向图上的时变引导者的非线性分数阶多智能体系统的分布式跟踪问题。由于控制增益的异质性以及非线性系统中时变未知引导者的存在，每个智能体的分数阶动态本质上是异质的。首先，构造了一个不连续的分布式控制器，保证在满足一定条件的情况下，分布式跟踪控制问题能够得到解决。其次，提出了一种连续分布控制器来消除不连续控制器的抖振现象，其中跟踪误差的上界是一致有界的，并且可以通过适当地选择参数使其足够小。最后，通过仿真算例验证了主要结果的有效性。
By applying the fractional Lyapunov direct method, this paper investigates the distributed tracking problem of nonlinear fractional-order multi-agent systems subject to heterogeneous control gains and a time-varying leader whose input is unknown and bounded over a general directed graph. Due to the existence of heterogeneous control gains as well as a time-varying unknown leader in the nonlinear systems, the fractional-order dynamics of each agent is in essence heterogeneous. At first, a discontinuous distributed controller is constructed to guarantee that the distributed tracking control problem can be solved if some conditions are satisfied. Next, a continuous distributed controller is further proposed to eliminate the undesirable chattering phenomenon of the discontinuous controller, where the upper bound of the tracking error is uniformly bounded and can be made small enough by choosing the parameters appropriately. Finally, some simulation examples are presented to verify the effectiveness of the main results.