Li Hanfeng, Zhang Chenghui, Liu Shuai, Zhang Xianfu
IEEE Trans Cybern. 2022 Jul;52(7):6993-7001. doi: 10.1109/TCYB.2020.3037177. Epub 2022 Jul 4.
This article proposes a dynamic gain approach for investigating the leader-follower consensus problem of nonlinear multiagent systems with both distributed delays and discrete delays. It is assumed that each agent is in the strict-feedback form and satisfies the Lipschitz condition with an unknown constant. A novel dynamic gain observer is first constructed for each follower by only utilizing the output information of the follower and its neighbors. By introducing an observer, a distributed output-feedback control protocol is designed for each follower agent under a directed communication topology. It is proved by the Lyapunov-Razumikhin theorem that the consensus of the multiagent system is achieved with the proposed consensus protocol. Different from the existing results, the dynamic gain is constructed for each follower to propose the consensus protocol, without resorting to the celebrated backstepping technique. Moreover, the time-varying gain is designed in a uniform framework. The effectiveness of the proposed approaches is illustrated by a simulation example.
本文提出了一种动态增益方法，用于研究具有分布式延迟和离散延迟的非线性多智能体系统的领导者-跟随者一致性问题。假设每个智能体处于严格反馈形式，并满足具有未知常数的利普希茨条件。首先仅利用跟随者及其邻居的输出信息为每个跟随者构造一个新颖的动态增益观测器。通过引入观测器，在有向通信拓扑下为每个跟随者智能体设计了一种分布式输出反馈控制协议。利用李雅普诺夫-拉祖米欣定理证明，所提出的一致性协议实现了多智能体系统的一致性。与现有结果不同的是，为每个跟随者构造动态增益以提出一致性协议，而无需借助著名的反步法技术。此外，时变增益是在一个统一的框架中设计出来 的。通过一个仿真例子说明了所提方法的有效性。
