Xiao Wenbin, Ren Hongru, Zhou Qi, Li Hongyi, Lu Renquan
IEEE Trans Cybern. 2022 Jul;52(7):6939-6948. doi: 10.1109/TCYB.2020.3042168. Epub 2022 Jul 4.
This article proposes a finite-time adaptive containment control scheme for a class of uncertain nonlinear multiagent systems subject to mismatched disturbances and actuator failures. The dynamic surface control technique and adding a power integrator technique are modified to develop the distributed finite-time adaptive containment algorithm, which shows lower computational complexity. In order to overcome the difficulty from the mismatched uncertainties, the disturbance observers are constructed based on the backstepping technique. Moreover, the uncertain actuator faults, including loss of effectiveness model and lock-in-place model, are considered and compensated by the proposed adaptive control scheme in this article. According to the Lyapunov stability theory, it is demonstrated that the containment errors are practically finite-time stable in the presence of actuator faults. Finally, a simulation example is conducted to show the effectiveness of the proposed theoretical results.
本文针对一类受失配干扰和执行器故障影响的不确定非线性多智能体系统，提出了一种有限时间自适应包容控制方案。对动态面控制技术和添加幂积分器技术进行了改进，以开发分布式有限时间自适应包容算法，该算法具有较低的计算复杂度。为了克服失配不确定性带来的困难，基于反步法构造了干扰观测器。此外，本文所提出的自适应控制方案考虑并补偿了包括有效性损失模型和锁定模型在内的不确定执行器故障。根据李雅普诺夫稳定性理论，证明了在存在执行器故障的情况下，包容误差在实际意义上是有限时间稳定的。最后，通过一个仿真例子验证了所提理论结果的有效性。
