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首页> 外文期刊>International Journal of Innovative Computing Information and Control >FUZZY ADAPTIVE CONSENSUS OF SECOND-ORDER NONLINEAR MULTI-AGENT SYSTEMS IN THE PRESENCE OF INPUT SATURATION
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FUZZY ADAPTIVE CONSENSUS OF SECOND-ORDER NONLINEAR MULTI-AGENT SYSTEMS IN THE PRESENCE OF INPUT SATURATION

机译：输入饱和下二阶非线性多代理系统的模糊自适应共识

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摘要

This paper studies the consensus problem of second-order nonlinear multi-agent systems with a leader. A fuzzy adaptive consensus method with prescribed performance is proposed for second-order nonlinear multi-agent systems with unknown dynamics in the presence of input saturation. An auxiliary system is introduced to counteract the effect of input saturation and fuzzy logic systems are used to approximate the unknown dynamics. By combining prescribed performance control and dynamic surface control technique, consensus controllers are developed to guarantee that the outputs of all followers can track that of the leader, and synchronization errors stay in the predefined bounds. The proposed consensus scheme can overcome the effect of input saturation and guarantee the steady and transient performances simultaneously. Simulation results are provided to show the effectiveness of the proposed method.
机译：本文研究了带领导者的二阶非线性多智能体系统的共识问题。针对存在输入饱和的动力学未知的二阶非线性多智能体系统，提出了一种具有规定性能的模糊自适应共识方法。引入了一个辅助系统来抵消输入饱和的影响，并且使用模糊逻辑系统来近似未知动态。通过将规定的性能控制和动态表面控制技术相结合，开发了共识控制器，以确保所有跟随者的输出都可以跟踪领导者的输出，并且同步误差保持在预定义的范围内。所提出的共识方案可以克服输入饱和的影响，并同时保证稳定和瞬态性能。仿真结果表明了该方法的有效性。

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