论文标题
新型Nussbaum型函数基于安全自适应分布式共识控制，并具有任意未知的控制方向
Novel Nussbaum-Type Function based Safe Adaptive Distributed Consensus Control with Arbitrary Unknown Control Direction
论文作者
论文摘要
基于Nussbaum函数对多代理系统共识的基于Nussbaum函数的方法需要（部分）所有代理的不明控制方向，并引起危险的急剧控制冲击。本文开发了一种新颖的饱和努斯鲍姆功能，以放松这种局限性，并提出了基于Nussbaum函数的控制方案，该方案针对具有任意非相同的未知控制方向和安全控制进度的多机构系统的共识问题。首先，提出了一种具有不同频率的Nussbaum函数的新型类型，以饱和的时间延伸函数的形式提出，该功能提供了控制进度的更平滑，更安全的瞬态性能。此外，新型的Nussbaum函数用于设计线性参数化的多代理系统的分布式自适应控制算法，以在没有戏剧性控制冲击的情况下达到平均共识。然后，在无方向性的通信拓扑结构下，闭环系统的所有信号被证明是有界和渐近收敛的。最后，进行了两个比较数值模拟示例，以验证与传统的Nussbaum方法相比，用更小的控制冲击幅度验证所提出的方法的有效性和优越性。
Existing Nussbaum function based methods on the consensus of multi-agent systems require (partial) identical unknown control directions of all agents and cause dangerous dramatic control shocks. This paper develops a novel saturated Nussbaum function to relax such limitations and proposes a Nussbaum function based control scheme for the consensus problem of multi-agent systems with arbitrary non-identical unknown control directions and safe control progress. First, a novel type of the Nussbaum function with different frequencies is proposed in the form of saturated time-elongation functions, which provides a more smooth and safer transient performance of the control progress. Furthermore, the novel Nussbaum function is employed to design distributed adaptive control algorithms for linearly parameterized multi-agent systems to achieve average consensus cooperatively without dramatic control shocks. Then, under the undirected connected communication topology, all the signals of the closed-loop systems are proved to be bounded and asymptotically convergent. Finally, two comparative numerical simulation examples are carried out to verify the effectiveness and the superiority of the proposed approach with smaller control shock amplitudes than traditional Nussbaum methods.
