PD and PI Control for the Lag Consensus of Nonlinear Multiagent Systems With and Without External Disturbances
研究了二阶非线性多智能体系统在有无外部扰动下，利用PD和PI控制方法实现滞后一致性和滞后H∞一致性的条件，并通过数值例子验证。
In this article, we investigate the lag consensus and lag <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$ \mathcal{H}_{\infty}$</tex-math> </inline-formula> consensus problems for second-order nonlinear multiagent systems (MASs) by utilizing the proportional-derivative (PD) and proportional-integral (PI) control methods. On the one hand, a criterion is developed for ensuring the lag consensus of the MAS by choosing an appropriate PD control protocol. Moreover, a PI controller is also provided to guarantee that the MAS can achieve lag consensus. On the other hand, several lag <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal{H}_{\infty}$</tex-math> </inline-formula> consensus criteria are also given for the case in which external disturbances appear in the MAS; these criteria are developed by exploiting the PD and PI control strategies. Finally, the devised control schemes and the developed criteria are verified by employing two numerical examples.