青岛科技大学  English 
池荣虎
赞  

教师拼音名称:chironghu

手机版

访问量:

最后更新时间:..

Sampled-Data Model-Free Adaptive Control for Nonlinear Continuous-Time Systems

关键字:TIME CONSENSUS CONTROL

摘要:There exists a relationship between the consensus performance and the control protocol in the coordination of multiple agents. This article proposes a novel direct data -driven control (DirDDC) using such a relationship directly by establishing a performance -oriented design and analysis framework without relying on any model information. A consensus error is defined by considering the topology information among the agents to match the consensus objective. Then, a nonlinear data relationship between the consensus -error and control input (NDR-CE&I) is established such that the current consensus error is to the previous consensus errors and the agent inputs over a moving time window. Next, a linear data relationship of NDR-CE&I, termed as LDR-CE&I, is established by introducing a dynamic linearization method. Subsequently, the novel DirDDC is proposed directly using the LDR-CE&I regardless whether the multi -agent systems (MASs) are nonlinear or linear, affine or non-affine, homogeneous or heterogeneous. The convergence analysis is directly conducted based on the performance function, i.e., the NDR-CE&I, instead of the original MASs, so that the model requirement of the MASs can be completely bypassed. The proposed DirDDC can be applied to the MASs with either fixed or switching communication topologies. The simulation study verifies the results.

卷号:666

期号:-

是否译文:

崂山校区 - 山东省青岛市松岭路99号   
四方校区 - 山东省青岛市郑州路53号   
中德国际合作区(中德校区) - 山东省青岛市西海岸新区团结路3698号
高密校区 - 山东省高密市杏坛西街1号   
济南校区 - 山东省济南市文化东路80号©2015 青岛科技大学    
管理员邮箱:master@qust.edu.cn