Robust event-triggered consensus tracking control of high-order uncertain nonlinear systems
Robust event-triggered consensus tracking control of high-order uncertain nonlinear systems
复制标题
DOI：
10.1002/rnc.5946
复制
发表时间：
2021-12-20
影响因子：
3.9
通讯作者：
Takei, Daichi
中科院分区：
文献类型：
--
作者：
Yang, Zi-Jiang;Takei, Daichi
研究了连通图上多个高阶不确定非线性系统的分布式事件触发共识跟踪控制问题，其中领导者的参考信息只发送给一部分跟随者。代理之间的通信和本地控制更新是基于不同的事件触发机制进行的，这些机制具有不同的触发条件，独立工作。为了便于共识跟踪控制的设计，在网络的每个跟随者代理中，构造了一组分布式的级联估值器，用于通过通信图上本地邻居之间的事件触发信息交换来估计参考轨迹及其高阶导数。理论分析表明，参考态的估计误差在很短的时间内衰减到原点附近，并且排除了Zeno行为。然后，利用估计的参考状态，在每个智能体中，提出了一个局部事件触发的鲁棒控制器，该控制器包含一个具有状态信号依赖增益的非线性鲁棒项。在考虑控制增益时变的情况下，推导了系统的触发条件，并对局部控制器的跟踪性能进行了严格的分析。此外，结果还表明，Zeno行为也被排除在外。最后给出了仿真实例，验证了参考估值器和共识跟踪控制器的性能。
This work considers the problem of distributed event-triggered consensus tracking control of multiple high-order uncertain nonlinear systems on a connected graph where the leader's reference information is sent to only a portion of the followers. The communication among the agents and the local control update are performed based on different event-triggering mechanisms which possess different triggering conditions and work independently. To facilitate consensus tracking control design, in each follower agent of the network, a group of distributed and cascaded estimators is constructed for estimating the reference trajectory and its high-order derivatives by event-triggered information exchange among the local neighbors on the communication graph. Theoretical analysis shows that the estimation errors of the reference states decay within a very short time to the neighborhood of the origin and that the Zeno behavior is excluded. Then by utilizing the estimated reference states, in each agent, a local event-triggered robust controller including a nonlinear robustifying term with a state signal dependent gain is proposed. The triggering condition is derived by taking the time-varying control gain into account, and the tracking performance of the local controller is rigorously analyzed. Furthermore, it is shown that the Zeno behavior is also excluded. Finally, simulation examples are provided to demonstrate the performance of the reference estimators and that of the consensus tracking controllers.