论文标题
基于分离的方法，用于跟踪交换高阶非线性多机构系统的共识跟踪
A Separation-Based Methodology to Consensus Tracking of Switched High-Order Nonlinear Multi-Agent Systems
论文作者
论文摘要
这项工作调查了一种减少复杂性自适应方法，以对具有开关（可能是异步）动力学的不确定高阶非线性系统团队进行共识跟踪。众所周知，随着反馈线性化和为低阶系统成功开发的反馈方法，高阶非线性系统在本质上具有挑战性。同时，即使是为单一高阶案例进行了良好探索的添加一项动力积分器方法，也会提出一些复杂性问题，并且不适合分布式控制。所提出的分布式方法的核心是可分开功能的新提出的定义：此定义允许基于分离的引理来处理控制设计中复杂性降低的高阶术语。复杂性在双重意义上降低了：每个虚拟控制定律的控制增益不必在下一个虚拟控制定律中兼容，从而导致控制定律的更简单表达；虚拟控制的顺序仅按照系统的顺序成比例地增加（而不是指数级），从而大大减少了高增益问题。
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems are intrinsically challenging as feedback linearization and backstepping methods successfully developed for low-order systems fail to work. At the same time, even the adding-one power-integrator methodology, well explored for the single-agent high-order case, presents some complexity issues and is unsuited for distributed control. At the core of the proposed distributed methodology is a newly proposed definition for separable functions: this definition allows the formulation of a separation-based lemma to handle the high-order terms with reduced complexity in the control design. Complexity is reduced in a twofold sense: the control gain of each virtual control law does not have to be incorporated in the next virtual control law iteratively, thus leading to a simpler expression of the control laws; the order of the virtual control gains increases only proportionally (rather than exponentially) with the order of the systems, dramatically reducing high-gain issues.
