李菲, 周超, 范利蓉, 王芳. 控制方向未知的受限多智能体系统的预设时间模糊控制[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2024.01.23.003
引用本文: 李菲, 周超, 范利蓉, 王芳. 控制方向未知的受限多智能体系统的预设时间模糊控制[J]. 工程科学学报. DOI: 10.13374/j.issn2095-9389.2024.01.23.003
LI Fei, ZHOU Chao, FAN Lirong, WANG Fang. Prescribed time fuzzy control for constrained multiagent systems with unknown control direction[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2024.01.23.003
Citation: LI Fei, ZHOU Chao, FAN Lirong, WANG Fang. Prescribed time fuzzy control for constrained multiagent systems with unknown control direction[J]. Chinese Journal of Engineering. DOI: 10.13374/j.issn2095-9389.2024.01.23.003

控制方向未知的受限多智能体系统的预设时间模糊控制

Prescribed time fuzzy control for constrained multiagent systems with unknown control direction

  • 摘要: 综合考虑受控制方向未知、输入受限和状态时延影响的有领导者多智能体系统的编队控制问题,设计基于模糊逻辑系统的预设时间一致性控制策略. 为了保证编队输出误差在预设时间内满足预定的约束范围要求,引入预设时间性能函数,构造Lyapunov–Krasovskii (L–K)泛函解决状态时延问题,将外界干扰和L–K泛函的导数中的部分项定义为未知非线性函数,并利用模糊逻辑系统对其进行估计,利用Nussbaum函数和均值定理分别处理控制方向未知和输入受限问题,基于以上设计,提出预设时间模糊控制策略,并通过Lyapunov稳定性理论,分析闭环系统的有界稳定性,数值对比仿真和两级化学反应器应用仿真说明控制方法的有效性.

     

    Abstract: In recent years, multiagent systems (MASs) have completed numerous complex tasks through effective communication and coordination among agents. This has enhanced MAS’s robustness and controllability, leading to their widespread application in practical scenarios such as spacecraft, robot, and unmanned aerial vehicle systems. MAS cooperative control, which includes addressing issues such as consistency, clustering, and formation, has garnered significant attention in the engineering field. This paper addresses the cooperative control problem of a nonlinear MAS affected by unknown control direction, unknown input constraints, and state time delay. We propose an adaptive fuzzy preset time control strategy to tackle these challenges. A preset time performance function ensures that the output error meets constraint requirements within a preset time, where the upper limit of the convergence time does not depend on the initial state of the systems and can be preset according to the actual demand. Therefore, this strategy offers more accurate convergence times compared with traditional finite-time and fixed-time control methods, thereby reducing control costs. State time delay, a common issue in many physical systems, often arises from network communication between MASs and can lead to MAS instability. To solve state time delay and state constraints, we construct a composite Lyapunov–Krasovskii (L–K) functional and propose an adaptive preset time control strategy. The composite L–K functional contains two parts: a barrier Lyapunov function to ensure that all states meet constraint requirements and an L–K functional to eliminate the influence of state time delay on MASs. External disturbances and the time derivatives of the L–K functionals are defined as unknown functions, estimated using a fuzzy logic system, thus simplifying complex calculations and improving the control scheme’s resistance to external disturbances. To effectively alleviate the influence of unknown control directions on MASs, we employ the traditional Nussbaum function. In practical MAS applications, control input constraint, which is caused by the limited driving ability of agents, often imposes constraints on control inputs. Mishandling these constraints can compromise system performance or lead to instability. Addressing control input constraints is a huge theoretical challenge and a practical requirement. This paper uses the mean value theorem to deal with the control input constraint problem effectively. Finally, the bounded stability of the closed-loop system is analyzed using the Lyapunov stability theory, ensuring that the output error satisfies constraints within the preset time. Numerical simulations and two-stage chemical reactor simulations illustrate the effectiveness and feasibility of the designed control scheme. In summary, the adaptive fuzzy preset time control strategy presented in the paper successfully achieves the consensus stability of nonlinear MASs.

     

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