兰州理工大学学报 ›› 2024, Vol. 50 ›› Issue (6): 76-84.

• 自动化技术与计算机技术 • 上一篇    下一篇

输入饱和下广义多智能体系统半全局输出包围控制

王志文*1,2,3, 王玉莹1, 卢延荣1, 杜楠1, 栗小芳1   

  1. 1.兰州理工大学 电气工程与信息工程学院, 甘肃 兰州 730050;
    2.兰州理工大学 甘肃省工业过程先进控制重点实验室, 甘肃 兰州 730050;
    3.兰州理工大学 电气与控制工程国家级实验教学示范中心, 甘肃 兰州 730050
  • 收稿日期:2022-06-14 出版日期:2024-12-28 发布日期:2025-01-13
  • 通讯作者: 王志文(1976-),男,甘肃武威人,博士,教授,博导.Email:wzw@lut.edu.cn
  • 基金资助:
    国家自然科学基金(61863026),甘肃省青年科技基金计划(21JR7A346),甘肃省重大专项(21ZD4GA028)

Semi-global output containment control for discrete-time descriptor multi-agent systems with input saturation

WANG Zhi-wen1,2,3, WANG Yu-ying1, LU Yan-rong1, DU Nan1, LI Xiao-fang1   

  1. 1. College of Electrical and Information Engineering, Lanzhou Univ. of Tech., Lanzhou 730050, China;
    2. Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou Univ. of Tech., Lanzhou 730050, China;
    3. National Demonstration Center for Experimental Electrical and Control Engineering Education, Lanzhou Univ. of Tech., Lanzhou 730050, China
  • Received:2022-06-14 Online:2024-12-28 Published:2025-01-13

摘要: 在有向通信拓扑下研究了具有输入饱和离散广义多智能体系统的半全局输出包围控制问题.首先,将原问题转化为具有分布式观测器的输出调节问题.其次,基于参数离散Riccati方程得到广义系统的显式解,避免对广义系统进行受限等价分解.然后,基于分布式状态观测器和输出调节器,构造了半全局输出包围控制协议,选择合适的Lyapunov函数给出了系统稳定性的充分条件,并证得在所设计的控制协议下,所有跟随者的输出能够收敛到由领航者所形成的凸包内.最后,通过数值仿真验证了所提出的分布式控制协议的有效性.

关键词: 离散广义多智能体系统, 输入饱和, 半全局输出包围控制, 低增益反馈, 参数离散Riccati方程

Abstract: The semi-global output containment control for discrete-time descriptor multi-agent systems with input saturation under a directed communication topology. Firstly, the original problem is transformed into an output regulation problem with a distributed observer. Secondly, the explicit solution of a descriptor system is obtained by a parametric discrete-time Riccati equation, the constrained equivalent decomposition of a descriptor system. Thirdly, the semi-global output containment control protocols are constructed based on a distributed state observer and an output regulator, and sufficient conditions for the stability of the system are given by selecting an appropriate Lyapunov function. It is proved that the output of all followers can converge to the convex hull formed by the leaders under the designed control protocol. Finally, the effectiveness of the proposed distributed protocols is verified by a numerical example.

Key words: discrete-time descriptor multi-agent systems, input saturation, semi-global output containment control, low gain feedback, parametric discrete-time Riccati equation

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