Optimized Backstepping Cooperative Control for Output-Constrained Stochastic Nonlinear Network Systems via a Multibridge-Hole Function
针对具有多桥孔输出约束的随机多智能体系统，提出一种新的领导跟随跟踪控制方法，通过设计移位函数构造障碍李雅普诺夫函数，结合反步技术与自适应动态规划构建最优控制器，适用于多种输出约束问题。
In this article, a new leader-following tracking control approach is investigated for stochastic multiagent systems with multibridge-hole output constraints. The multibridge-hole output constraints mean that the output of the system is constrained in some intervals and unconstrained in other intervals. The constrained and unconstrained intervals can be set arbitrarily. By designing a new shift function to construct the barrier Lyapunov function, the optimal controller is constructed by combining the backstepping technique with the adaptive dynamic programming technique. The model network is used to estimate the unknown disturbances and uncertainty terms in the system. The critic network and the actor network are constructed such that the designed controller adheres to the Bellman optimality principle and gives the optimal solution of the system. The proposed control method is versatile and compatible with various types of output constrained control problems, such as unconstrained control problems, constrained control problems, and delay constrained problems without changing the structure of the controller. Finally, some simulation results are given to verify the effectiveness of the method.