论文标题
非线性多代理系统的半全球周期性周期性事件触发的输出调节
Semi-global Periodic Event-triggered Output Regulation for Nonlinear Multi-agent Systems
论文作者
论文摘要
这项研究着重于一类非线性多机构系统的定期事件触发（PET）合作输出调节问题。 PET机制的关键特征是，只需要定期监视事件触发的条件。这种方法对卫生行为排除和节省板载传感器的电池能量是有益的。最初，提出了新的宠物分布式观察者来估计领导者信息。我们表明，在异步PET通信下，估计误差与已知的收敛速率成倍收敛。其次，一个新型的宠物输出反馈控制器是为基础的严格反馈非线性多机构系统设计的。基于状态转换技术和当地的宠物状态观察者，可以通过拟议的新控制设计技术来解决合作的半全球输出调节问题。多个洛伦兹系统的仿真结果表明，开发的控制方案是有效的。
This study focuses on periodic event-triggered (PET) cooperative output regulation problem for a class of nonlinear multi-agent systems. The key feature of PET mechanism is that event-triggered conditions are required to be monitored only periodically. This approach is beneficial for Zeno behavior exclusion and saving of battery energy of onboard sensors. At first, new PET distributed observers are proposed to estimate the leader information. We show that the estimation error converges to zero exponentially with a known convergence rate under asynchronous PET communication. Second, a novel PET output feedback controller is designed for the underlying strict feedback nonlinear multi-agent systems. Based on a state transformation technique and a local PET state observer, the cooperative semi-global output regulation problem can be solved by the proposed new control design technique. Simulation results of multiple Lorenz systems illustrate that the developed control scheme is effective.
