端口受控哈密顿多智能体系统的输出一致性协议设计（英文）

被引：5

作者：

李长生 ^{[1
,2
]}

王玉振 ^{[1
]}

机构：

[1] School of Control Science and Engineering, Shandong University

[2] Department of Information Science andTechnology, Taishan

来源：

自动化学报 | 2014年 / 40卷 / 03期

关键词：

Control design; Hamiltonian systems; multi-agent; consensus;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper investigates the output consensus problem of port-controlled Hamiltonian(PCH) multi-agent systems with both fixed and switching topologies. Firstly, a distributed group output consensus protocol is designed via the energy shaping method to reach globally stability and group output consensus. Secondly, a new distributed control protocol is proposed by using the structural properties of the PCH systems. The advantage of this protocol is that it can transform the directed graph to the undirected graph by constructing a kind of virtual neighbors. Thirdly, a control protocol is designed with the extended LaSalle s invariance principle developed for switched systems under the jointly connected topology condition to make all the agents reach output consensus when the topology is switching. Finally, some illustrative examples with simulations are provided to demonstrate the effectiveness of the protocols designed in this paper.

引用

页码：415 / 422

页数：8