High-Gain Adaptive Control With Switching Derivation Order and Its Application to a Class of Multiagent Systems
提出一种切换高增益自适应控制方案，通过整数阶与分数阶微分方程的切换来估计控制器增益，在保证快速收敛的同时降低增益值、提升鲁棒性，并应用于多智能体系统。
This article presents the design and analysis of a switching high-gain adaptive control scheme for a class of nonlinear systems. Adaptation is included in the scheme to estimate the controller gains, using differential equations whose order can switch between 1 (integer order) and some real number (fractional order) in the interval (0, 1), depending on the error level. This switching strategy permits obtaining lower values for controller gains due to fractional orders, resulting in improved robustness, while simultaneously guaranteeing fast convergence of the state to the origin due to the integer order, leading to a better balance between system behavior and control energy efficiency. Applications to multiagent systems are presented to illustrate the potential of the proposed scheme.