拓扑切换下IT2 T-S模糊非线性多智能体系统全局逆最优控制

针对连续非线性多智能体系统的全局最优协同控制问题,本文提出了模糊输出反馈和逆最优方法的分布式一致性最优控制律和相应的控制策略.首先,通过一种区间2型T-S (interval type 2 Takagi-Sugeno IT2 T-S)模糊模型将非线性系统等价转化为线性系统.其次,基于逆最优方法设计了全局最优协同控制律和相应的模糊输出反馈控制策略,智能体间仅仅通过局部通信,即可实现拓扑切换下非线性多智能体系统的二次性能全局最优控制,且系统的收敛速度大大提高.基于局部稳定性理论给出了全局逆最优控制的充要条件.最后,通过MATLAB算例验证所提方法的正确性和可行性.

Global Inverse Optimal Control for IT2 T-S Fuzzy Nonlinear Multi-agent System Under Directed Switching Topologies

For the global optimal cooperative control problem of continuous nonlinear multi-agent system, this paper proposes a distributed consensus optimal control law with fuzzy output feedback and inverse optimal methods and corresponding control strategies. Firstly, the nonlinear system is equivalent to the linear system by an IT2 T-S fuzzy model. Secondly, the global optimal cooperative control law and the corresponding fuzzy output feedback control strategy are designed based on the inverse optimal method, only through local communication between agents, the quadratic performance global optimal control of nonlinear multi-agent system under switching topologies can be realized, and the convergence speed of the system is greatly improved. Based on the local stability theory, the necessary and sufficient conditions for inverse optimal control are proposed. Finally, the correctness and feasibility of the proposed method are verified by Matlab examples.