Uncoupled PID Control of Coupled Multi-Agent Nonlinear Uncertain systems

被引:20
作者
Yuan, Shuo [1 ,2 ]
Zhao, Cheng [1 ,2 ]
Guo, Lei [1 ]
机构
[1] Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, LSC, Beijing 100190, Peoples R China
[2] Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China
基金
中国国家自然科学基金;
关键词
Coupled multi-agent system; global stability; Lipschitz condition; nonlinear uncertain dynamics; PID controller;
D O I
10.1007/s11424-018-7335-1
中图分类号
O1 [数学];
学科分类号
0701 ; 070101 ;
摘要
In this paper, PID (proportional-integral-derivative) controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.
引用
收藏
页码:4 / 21
页数:18
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