School of Automation and Electrical Engineering, Qingdao University, Qingdao 266071, PR China.
ISA Trans. 2018 Sep;80:187-194. doi: 10.1016/j.isatra.2018.07.039. Epub 2018 Aug 10.
This paper is concerned with the adaptive bipartite output consensus tracking problem of high-order nonlinear coopetition multi-agent systems with input saturation under a signed directed graph. A distributed fuzzy-based command filtered backstepping scheme is proposed, where the unknown nonlinear dynamics are approximated by the fuzzy logic system (FLS). The errors compensation mechanism is constructed to eliminate the errors caused by filters. Under the proposed control scheme, we only need to design one adaptive law for each agent, and it is proved that the bipartite output tracking errors converge into the desired neighborhood and all the closed-loop signals are bounded although the input saturation exists. Two numerical examples are included to verify the effectiveness of given scheme.
本文研究了具有输入饱和的高阶非线性合作竞争多智能体系统在有向符号图下的自适应双边输出协同跟踪问题。提出了一种基于分布式模糊的命令滤波反推控制方案，其中利用模糊逻辑系统（FLS）来逼近未知的非线性动力学。构造了误差补偿机制以消除滤波器引起的误差。在所提出的控制方案下，我们只需要为每个智能体设计一个自适应律，并且证明了尽管存在输入饱和，双边输出跟踪误差仍能收敛到期望邻域内，且所有闭环信号都是有界的。通过两个数值例子验证了所给方案的有效性。
