IEEE Trans Cybern. 2017 Aug;47(8):1882-1891. doi: 10.1109/TCYB.2017.2651019. Epub 2017 Jan 24.
This paper considers the distributed consensus tracking problem for a class of high-order stochastic multiagent systems with uncertain nonlinear functions under a fixed undirected graph. Through the recursive method, the novel nonlinear distributed controllers are designed. By constructing a kind of special form for the virtual controller in the first step of recursive design, we realize that the state variables of every agent are separated except the outputs of the adjacency agents. The designed controller of each agent only depends on its own state variables and the outputs of the adjacent multiagents. With the proposed method, it is not required any more that the orders of the agents are same. This makes the designed controller be easier to be implemented and the proposed method be applicable for a wider class of multiagent systems. The efficiency of the design approach is illustrated by a simulation example.
本文考虑了一类具有不确定非线性函数的高阶随机多智能体系统在固定无向图下的分布式一致性跟踪问题。通过递归方法，设计了新颖的非线性分布式控制器。通过在递归设计的第一步中为虚拟控制器构造一种特殊形式，我们实现了除相邻代理的输出外，每个代理的状态变量都被分离。每个代理的控制器仅取决于其自身的状态变量和相邻多代理的输出。通过所提出的方法，不再需要代理的阶数相同。这使得设计的控制器更容易实现，并且所提出的方法适用于更广泛的多智能体系统类别。通过一个仿真示例说明了设计方法的有效性。
