Research On Cooperative Adaptive Control Problems Of Multi-Agent Systems

Recently,the multi-agent systems(MASs)have attracted wide attention due to its wide applications in formation control,communication network congestion control,unmanned aerial vehicle clustering control and other aspects.The leader-follower consensus control problem is one of the basic problems in the research of MASs.The main idea is that the followers and leaders can follow the desired trajectory through the information interaction among agents.On the other hand,in practical applications,the system may have some input or output nonlinear terms.Therefore,it is of great significance to study the leader-follower consensus control problem for nonlinear MASs with input or output nonlinear terms.Although there have been a lot of results on this kind of problems,there are still many problems that have not been fully considered.Based on this,this paper mainly studies the adaptive leader-follower consensus control problem for high-order nonlinear MASs.The main research is as follows:First of all,the problem of cooperative adaptive leader-follower tracking consensus control for a class of MASs with power-exponential function is studied under the condition of considering input dead zone and stochastic disturbances.For stochastic MASs with power-exponential function,a new cooperative adaptive control scheme is proposed by using the technique of the adding a power integrator,which can effectively overcome the difficulties caused by the traditional backstepping method when the state and input signal in the system exist in the form of power-exponential function.Based on the Lyapunov stability theory,it is proved that all the signals in the closed-loop systems are semi-globally uniformly ultimately bounded in probability,and the tracking errors can converge to the small neighborhood of the origin.Finally,the simulation results show the effectiveness of the proposed method.Second,the quantized fault-tolerant cooperative adaptive finite-time leader-follower bipartite tracking consensus control problem is studied for a class of MASs with input hysteresis and stochastic disturbances.In order to achieve the asymmetric hysteresis quantized control and overcome the difficulties caused by Prandtl-Ishlinskii hysteresis,a distributed control method without estimating parameter lower bound is proposed by adopting the adaptive compensation technique.Using the adaptive neural network compensation control method,the difficulty caused by the sensor fault is solved.Based on the Lyapunov stability theorem,it is proved that all the signals of the closed-loop systems are semi-global practical finite-time stable in probability,and the performance of leader-follower bipartite tracking consensus control is obtained.Finally,the effectiveness of the proposed control strategy is verified by some simulation results.Then,the cooperative quantized adaptive fixed-time leader-follower bipartite containment consensus control problem is studied for a class of MASs with immeasurable states,Bouc-Wen hysteresis and external disturbances.A disturbance observer and a fuzzy state observer are designed to estimate the unknown external disturbance and the unmeasurable state,respectively.Aiming at the difficulties caused by Bouc-Wen hysteresis,a distributed control strategy based on the disturbance observer is proposed.By using the Lyapunov theory and the fixed-time theory,it is proved that the stability of closed-loop MASs is semi-global practical fixed-time stability.Finally,a practical simulation example is given to verify the effectiveness of the proposed method.