Research On Consensus Control Of Multiple Simple-pendulums Network Systems Based On Output Feedback

In recent years,due to multi-agent systems can accomplish complex tasks but a single agent cannot accomplish,it has a good application background in modern society with increasing demand for cooperation.So,distributed coordination control of multi-agent systems has been widely concerned.As a basic theory of multi-agent systems,the consensus problem is the research focus.It is widely applied in the field of unmanned aerial vehicle control,pilotless,satellite attitude control and other fields.As a typical case of multi-agent systems,multiple simple-pendulums network systems is instructive to study the consensus in theory.In this paper,based on previous studies,the consensus problem of multiple simple-pendulums network systems based on static output feedback and dynamic output feedback are discussed respectively by using the knowledge of algebraic graph theory,matrix theory,Lyapunov stability theory and so on.The main works are:Firstly,the research background and significance are summarized,and the research status of consensus control is described.Secondly,mathematical model of multiple simple-pendulums network systems driven by DC motor is established.The relevant theories used in this paper are briefly described,including algebraic graph theory,matrix theory,stability theory and robust control theory.Thirdly,a robust consensus control protocol based on static output feedback is designed for a multiple simple-pendulums network systems with external disturbances.In the system,the armature current of the DC motor,the angular displacement and the angular velocity state of the simple-pendulums are not known.Since the inequality for solving control gains is a nonlinear matrix inequality,we cannot directly solve it by the related knowledge of solving linear matrix inequality(LMI).Therefore,an iterative algorithm is proposed to solve it and the performance index of the system is obtained.Furthermore,the consensus control protocol of static output feedback is applied to the multiple simplependulum network systems without external disturbances.At the same time,the condition of consensus is obtained.The simulation experiment is carried out by taking multiple simple-pendulums network systems and the simulation results show the effectiveness of our designed control protocol and iterative algorithm.Fourthly,a sliding-mode observer is designed to estimate the state variables of the nonlinear multiple simple-pendulums network systems with external disturbances.Then a consensus control protocol based on sliding-mode observer is proposed,which belongs to a robust consensus control method based on dynamic output feedback.In this paper,the consensus control based on distributed observer and the condition of ensuring consensus of the system are given.At the same time,observer gain and control gain are designed,and the robust performance index of the system is obtained.The simulation experiment is carried out by taking multiple simple-pendulums network systems and the simulation results show the effectiveness of our designed observers and control protocol.Finally,the paper is summarized.The shortcomings of the paper and the direction of the next research are put forward.