分数阶不确定多智能体系统的鲁棒一致性控制

摘要

研究一类分数阶线性不确定多智能体系统的状态一致性问题,提出一种基于状态观测器的鲁棒一致性控制方法.利用线性矩阵不等式及Kronecker积代数技巧,结合矩阵谱分解,将一致性问题转化为不确定分数阶误差系统的稳定性问题,进而给出一致性控制器的存在条件及设计方法.将理论结果应用于PDα控制下的Newcastle机器人模型进行仿真研究,验证了一致性控制器的有效性.%The consensus problem of uncertain multi-agent linear systems with the fractional order is stud ied. A robust consensus controller was designed based on state observer. By using linear matrix inequation (LMI) and kronecker products algebra technique, a sufficient condition for the existence of the consensus controller for the multi-agent system was presented in terms of a LMI whose feasible solutions were utilized to determine the parameters of the controller. The theoretical results were applied to multiple robot systems model in which PD" fractional controller was used, and the simulation results show the effectiveness.