Learning formation control for fractional-order multiagent systems
Learning formation control for fractional-order multiagent systems
复制标题
分数阶多智能体系统的学习编队控制
DOI：
10.1002/mma.4948
复制
发表时间：
2018
影响因子：
2.9
通讯作者：
Shen Dong
中科院分区：
文献类型：
--
作者：
Luo Dahui;Wang JinRong;Shen Dong
本文利用两种迭代学习控制方案（P-型和PI-型）和一个初始学习规则实现了线性分数阶多智能体系统的编队控制.为了实现有限时间共识，我们假设分数阶多智能体系统具有可重复的操作环境以及固定但有向的通信拓扑。P-型更新律和PI-型更新律都用于生成每个智能体的控制命令。严格证明了随着迭代次数的增加，所有智能体都被驱使达到渐近一致。通过两个算例验证了算法的有效性。
In this paper, we use 2 iterative learning control schemes (P‐type andPI‐type) with an initial learning rule to achieve the formation control of linear fractional‐order multiagent systems. To realize the finite‐time consensus, we assume repeatable operation environments as well as a fixed but directed communication topology for the fractional‐order multiagent systems. BothP‐type andPI‐type update laws are applied to generate the control commands for each agent. It is strictly proved that all agents are driven to achieve an asymptotical consensus as the iteration number increases. Two examples are simulated to verify the effectiveness of the proposed algorithms.