Robust Cooperative Optimal Sliding-Mode Control for High-Order Nonlinear Systems: Directed Topologies
Robust Cooperative Optimal Sliding-Mode Control for High-Order Nonlinear Systems: Directed Topologies
复制标题
高阶非线性系统的鲁棒协作最优滑模控制：有向拓扑
DOI：
10.1109/tcyb.2020.3035895
复制
发表时间：
2020
影响因子：
11.8
通讯作者：
Weisheng Yan
中科院分区：
文献类型：
--
作者：
Zhuo Zhang;Yang Shi;Shouxu Zhang;Zexu Zhang;Weisheng Yan
研究了具有外部干扰和建模不确定性的非线性多智能体系统的鲁棒协同最优控制问题。利用超扭转算法，提出了一种多输入高阶非线性质量的连续滑模控制方案。采用Takagi-Sugeno模糊方法建立滑模动力学模型，设计了保证代价函数鲁棒优化的标称控制协议。使用所提出的协议允许有向拓扑，并且删除了关于拓扑的许多假设。最后，通过三个数值算例验证了该算法的有效性和改进的性能。
This article is concerned with the robust cooperative optimal control of nonlinear multiagent systems (MASs) with external disturbances and modeling uncertainties. Using the super-twisting algorithm, a continuous sliding-mode control protocol is presented for high-order nonlinear MASs with multiple inputs. The sliding-mode dynamics is modeled by the Takagi–Sugeno fuzzy approach, and the nominal control protocol that guarantees the robust optimization of the cost function is designed. Directed topologies are allowed using the presented protocol, and many assumptions about topologies are removed. Finally, three numerical examples are reported to demonstrate the effectiveness and improved performance of the presented protocol.