Tang Zhen, Zhen Ziyang, Zhao Zhengen, Deconinck Geert
Faculty of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; ESAT-ELECTA, Katholieke Universiteit Leuven, Leuven B-3001, Belgium.
Faculty of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
ISA Trans. 2024 Jul;150:44-55. doi: 10.1016/j.isatra.2024.05.013. Epub 2024 May 16.
The paper concentrates on the issue of distributed disturbance observer-based nonfragile bipartite consensus within nonlinear delayed multiagent systems, encompassing both leaderless and leader-following structures. The delays under consideration are nonuniform, manifesting in the state, the nonlinearity, and the communication processes. To suppress the external disturbances and the observer gain perturbations, distributed nonfragile disturbance observers pertaining to relative output and communication delays are developed to estimate the external disturbances for each agent. Employing the developed disturbance observer, distributed control protocols for nonfragile bipartite consensus are constructed incorporating states, estimated disturbances, and communication delays. These protocols can ensure bipartite consensus, compensate for external disturbances, and tolerate uncertainties in control gain. New augmented Lyapunov-Krasovskii functions are formulated by introducing the triple integral term and the augmented vector. The new bipartite consensus criteria for the studied multiagent systems are established with less conservatism by employing the techniques on second-order Bessel-Legendre integral inequality, reciprocally convex combination, and free weight matrix. Finally, numerical simulations and comparisons are performed for both leaderless and leader-following scenarios, thereby validating and enhancing the theoretical outcomes.
本文聚焦于非线性时滞多智能体系统中基于分布式干扰观测器的非脆弱二分一致性问题，涵盖无领导者和有领导者跟随两种结构。所考虑的时滞是不均匀的，体现在状态、非线性以及通信过程中。为了抑制外部干扰和观测器增益扰动，针对相对输出和通信时滞设计了分布式非脆弱干扰观测器，用于估计每个智能体的外部干扰。利用所设计的干扰观测器，结合状态、估计干扰和通信时滞，构建了用于非脆弱二分一致性的分布式控制协议。这些协议能够确保二分一致性，补偿外部干扰，并容忍控制增益中的不确定性。通过引入三重积分项和增广向量，构造了新的增广Lyapunov-Krasovskii函数。利用二阶Bessel-Legendre积分不等式、互易凸组合和自由权矩阵等技术，建立了所研究多智能体系统的新的二分一致性准则，且保守性更低。最后，针对无领导者和有领导者跟随两种情形进行了数值仿真和比较，从而验证并强化了理论结果。
