Li Kuo, Hua Changchun, You Xiu, Guan Xinping
IEEE Trans Cybern. 2022 Feb;52(2):1292-1301. doi: 10.1109/TCYB.2020.2993297. Epub 2022 Feb 16.
This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in this article. To deal with this problem, for each follower, we first construct a novel distributed observer based on the relative output information to asymptotically estimate the state information of the leader, then we introduce a classical observer to asymptotically estimate the state information of the follower based on its output information. By means of two observers, the leader-following consensus problem is transformed into the stability problem of the nonlinear system with unknown input delays. Subsequently, the distributed controller independent of delays is proposed for each follower by the use of the truncated prediction method under some conditions. Based on the Lyapunov stability theory, it is strictly proved that the distributed controller can render all agents achieving consensus. Finally, the effectiveness of the theoretical results is illustrated on the basis of numerical simulations on a group of single-link manipulators.
本文研究了具有输入延迟的非线性多智能体系统的分布式输出反馈一致性控制问题。与现有相关工作不同的是，本文将每个智能体的输入延迟描述为未知时变函数，且各智能体的输入延迟互不相同。为解决该问题，对于每个跟随者，我们首先基于相对输出信息构造一个新颖的分布式观测器，以渐近估计领导者的状态信息，然后引入一个经典观测器，基于跟随者自身的输出信息渐近估计其状态信息。借助这两个观测器，将领导者 - 跟随者一致性问题转化为具有未知输入延迟的非线性系统的稳定性问题。随后，在某些条件下，利用截断预测方法为每个跟随者提出了与延迟无关的分布式控制器。基于李雅普诺夫稳定性理论，严格证明了该分布式控制器能使所有智能体实现一致性。最后，通过对一组单连杆机械手进行数值仿真，验证了理论结果的有效性。
