Zhang Dan, Xu Zhenhua, Wang Qing-Guo, Zhao Yun-Bo
Department of Automation, Zhejiang University of Technology, Hangzhou 310023, PR China; School of Automation, Hangzhou Dianzi University, Hangzhou 310018, PR China.
Department of Automation, Zhejiang University of Technology, Hangzhou 310023, PR China.
ISA Trans. 2017 May;68:150-159. doi: 10.1016/j.isatra.2017.01.001. Epub 2017 Feb 13.
This paper is concerned with the distributed H consensus of leader-follower multi-agent systems with aperiodic sampling interval and switching topologies. Under the assumption that the sampling period takes values from a given set, a new discrete-time model is proposed for the tracking error system. For the multi-agent systems with time-varying sampling period, switching topologies and external disturbance, the considered tracking problem is converted to a robust H control problem. With help of the Lyapunov stability theory, a sufficient condition for the existence of mode-dependent controller is established and it guarantees the exponential stability of tracking error system and a prescribed H disturbance attenuation level. The influence of sampling period on the overall control performance is also discussed. Two simulation examples are given to show the effectiveness of the proposed control algorithm.
本文研究具有非周期采样间隔和切换拓扑的领导者-跟随者多智能体系统的分布式H一致性问题。在采样周期取值于给定集合的假设下，为跟踪误差系统提出了一种新的离散时间模型。对于具有时变采样周期、切换拓扑和外部干扰的多智能体系统，将所考虑的跟踪问题转化为一个鲁棒H控制问题。借助李雅普诺夫稳定性理论，建立了依赖于模式的控制器存在的充分条件，该条件保证了跟踪误差系统的指数稳定性和规定的H干扰抑制水平。还讨论了采样周期对整体控制性能的影响。给出了两个仿真例子以说明所提出控制算法的有效性。
