Du Bin, Xu Quan, Zhang Junfu, Tang Yi, Wang Lei, Yuan Ruihao, Yuan Yu, An Jiaju
School of Mechanical Engineering, Xihua University, Chengdu 610039, China.
Entropy (Basel). 2023 Aug 27;25(9):1266. doi: 10.3390/e25091266.
A periodic intermittent adaptive control method with saturation is proposed to pin the quasi-consensus of nonlinear heterogeneous multi-agent systems with external disturbances in this paper. A new periodic intermittent adaptive control protocol with saturation is designed to control the internal coupling between the follower agents and the feedback gain between the leader and the follower. In particular, we use the saturation adaptive law: when the quasi-consensus error converges to a certain range, the adaptive coupling edge weight and the adaptive feedback gain will not be updated. Furthermore, we propose three saturated adaptive pinning control protocols. The quasi-consensus is achieved through its own pinning as long as the agents remain connected to each other. Using the Lyapunov function method and inequality technique, the convergence range of the quasi-consensus error of a heterogeneous multi-agent system is obtained. Finally, the rationality of the proposed control protocol is verified through numerical simulation. Theoretical derivation and simulation results show that the novel proposed periodic intermittent adaptive control method with saturation can successfully be used to achieve the pinning of quasi-consensus of nonlinear heterogeneous multi-agent systems.
本文提出了一种具有饱和特性的周期性间歇自适应控制方法，用于在存在外部干扰的情况下使非线性异构多智能体系统达到准一致性。设计了一种新的具有饱和特性的周期性间歇自适应控制协议，以控制跟随智能体之间的内部耦合以及领导者与跟随者之间的反馈增益。具体而言，我们采用饱和自适应律：当准一致性误差收敛到一定范围时，自适应耦合边权和自适应反馈增益将不再更新。此外，我们提出了三种饱和自适应牵制控制协议。只要智能体之间保持相互连接，通过自身的牵制就能实现准一致性。利用李雅普诺夫函数法和不等式技术，得到了异构多智能体系统准一致性误差的收敛范围。最后，通过数值仿真验证了所提控制协议的合理性。理论推导和仿真结果表明，所提出的具有饱和特性的新型周期性间歇自适应控制方法能够成功地用于实现非线性异构多智能体系统的准一致性牵制。
