Research On Cooperative Output Regulation And Optimal Control Of Nonlinear Multi-Agent Systems

With multi-agent systems are widely used in military,aviation,industrial,and power grid fields,such as unmanned aircraft formation control,satellite formation,and smart grid scheduling.In practical engineering applications,the systems mainly exhibit nonlinearity,so it is essential to study the control problems related to nonlinear systems.Cooperative output regulation of nonlinear multi-agent systems refers to the nonlinear followers under the action of external systems,which make the output of individual intelligence track asymptotically to the external system signal through the mutual collaboration among intelligence.The main problems of cooperative output regulation of nonlinear multi-agent systems are as follows:slow convergence rate and long convergence time of nonlinear systems affected by external interference signals;communication topology of the system is affected by external factors and may change and communication has time delay problems;in engineering applications,the control performance of the system is required to meet the optimal control of the system,etc.To address the above problems,this thesis investigates the cooperative output regulation problem of nonlinear multi-agent systems in terms of fast convergence in finite-time,cooperative output regulation under switching topology and time-delay,and global optimal control of the system,which mainly includes the following aspects.(1)The finite-time consensus control problem of heterogeneous nonlinear multi-agent systems is studied under fixed topology.A finite-time distributed feedback control protocol based on state observers and fuzzy output feedback controllers are designed to address the problems of state unpredictability of some of the agencies and convergence of the system in finite-time.The stability of the system under the finite-time distributed feedback control protocol is demonstrated using matrix theory,Lyapunov stability theory,and finite time theory.(2)The problem of cooperative output regulation of nonlinear multi-agent systems under switching topology and time-delay conditions is studied,and a distributed state feedback control protocol under switching topology and time-delay is designed.Using Lyapunov stability theory,Kronecker product,and time-delay stability theory,the stability of nonlinear multi-agent systems is demonstrated,and the effectiveness and correctness of the designed control protocol are verified.(3)The problem of global optimal cooperative control of nonlinear multi-agent systems under switching topology is studied.A distributed global inverse optimal control protocol and a corresponding fuzzy output feedback control strategy are proposed based on the inverse optimal method,and the system can realize the global optimal cooperative control of the system under switching topology only through the communication between agencies.The sufficient necessary conditions for the global optimal control of the system are given based on the local stability theory.Lyapunov stability theory is used to demonstrate the stability of nonlinear multi-agent systems and to verify the effectiveness of the control protocol.