Research On The Distributed Consensus Control Of MultiAgent Systems  Posted on:20170321  Degree:Doctor  Type:Dissertation  Country:China  Candidate:Z X Li  Full Text:PDF  GTID:1108330485951542  Subject:Control Science and Engineering  Abstract/Summary:  PDF Full Text Request  During the past decade, the cooperative control problems of multiagent systems consisting of multiple autonomous agents have attracted much attention in a variety of research fields, such as biology, physics, robotics and computer sciences. One of the most important and fundamental issues of the cooperative control is the consensus problem that aims to design a distributed controller and drives the states or outputs of all agents to a common value. The cooperative control problems contain the consensus problem without a leader (i.e., the leaderless consensus problem), the consensus problem with a leader (i.e., the leaderfollowing tracking problem) and the consensus problem with multiple leaders (i.e., the containment problem). This dissertation mainly focuses on the three consensus problems mentioned above for the nonlinear multiagent systems. The main contents are summarized as follows:First of all, the consensus problem of a class of nonlinear multiagent systems is investigated. The nonlinear function of each agent satisfies the Lipschitz condition and each agent subjects to the external disturbances which belong to L2[0,âˆž). By defining an appropriate controlled output, the consensus problem is transformed into an Hâˆž control problem. Based on the Hâˆž control theory, we design a distributed dynamic output feedback protocol to solve the consensus problem. Moreover, the consensus problem of multiagent systems with nonlinear functions satisfying the sector condition is considered, and a distributed dynamic output feedback protocol is given to solve the consensus problem. Due to the convex property of LMIs, the parameters of the dynamic controller are obtained by solving three LMIs.Second, the cooperative output regulation and containment control problems for a class of heterogeneous nonlinear multiagent systems are studied. We assume that each follower agent is in the output feedback form with the same relative degree with respect to its output. For the cooperative output regulation problem, we design a dynamic controller such that the outputs of follower agents track the desired trajectory which is the output of the leader agent. For the containment control problem, the control objective is to design a distributed controller such that the outputs of follower agents enter the convex hull spanned by the outputs of leader agents. To this end, we convert the containment control problem into a cooperative output regulation problem.A recursive procedure and internal model are employed to design the distributed controller.Finally, we consider the finitetime tracking control of the linear and nonlinear multiagent systems. For the linear multiagent systems, we firstly study the finitetime tracking problem for the individual agent with single input, and we present a finitetime tracking protocol for the linear multiagent systems. We prove that the tracking errors will not go to infinity in any finitetime internal and show that the whole multiagent system will track the state of the leader agent in a finite time. We give a similar result for multi inputs case as well. For the nonlinear multiagent systems, each agent is in the strictfeedback form and the communication topology is a directed graph. By using the homogeneous systems theory, we firstly give a finitetime tracking protocol for the highorder linear multiagent systems, based on which we give a finitetime tracking protocol for nonlinear multiagent systems in strictfeedback form. To deal with the unmeasurable states, finitetime convergent observers are constructed to estimate the real states of agents, and we use the states of observers to construct the finitetime tracking protocol for nonlinear multiagent systems.  Keywords/Search Tags:  MultiAgent systems, Distributed control, Consensus control, H_âˆž, Track ing control, Output regulation, Containment control, Finitetime control, Observer, Back stepping, Homogeneous system, Nonlinear systems  PDF Full Text Request  Related items 
 
