初态学习下的多智能体一致性迭代学习控制
摘要
考虑重复运行的带虚拟领导者的多智能体系统在有限时间区间上的一致性问题。针对存在初始定位误差的线性时不变多智能体系统,提出一种新的初态学习律,使得多智能体系统在迭代学习过程中,无需初态定位于某一精确的具体位置上,放宽了迭代学习方法的初始定位条件。文中分别给出了初态学习律和输入学习律收敛的充分条件,与已有方法相比,初态的收敛条件与系统的输入矩阵无关,降低了系统建模要求。最后,仿真实例结果表明各智能体的输出可以完全跟踪上期望轨迹,验证了该方法的可行性。
引文
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[2]Arimoto S,Kawamura S,Miyazaki F.Bettering operation of Robots by learning[J].Journal of Robotic Systems,1984,1(2):123-140.
[3]Arimoto,Suguru.Learning control theory for robotic motion[J].International Journal of Adaptive Control&Signal Processing,1990,4(6):543-564.
[4]Ahn H S,Chen Y Q.Iterative learning control for nulti-agent for mation[C]//ICCAS-SICE,2009.IEEE,2009:3111-3116.
[5]Liu Y,Jia Y.An iterative learning approach to formation control of multi-agent systems.[J].Systems&Control Letters,2012,61(1):148-154.
[6]Meng D,Jia Y.Finite-time consensus for multi-agent systems via terminal feedback iterative learning[J].Iet Control Theory&Applications,2011,5(18):2098-2110.
[7]Meng,Deyuan,Jia,et al.Aterative learning approaches to design finitetire consensus protocols for rmltiagent systems.[J].Systems&Control Letters,2012,61(1):187-194.
[8]Yang S,Xu J X.Adaptive Iterative learning control for multi-agent systems consensus tracking[C]//Systems,Man,and Cybernetics(SMC),2012 IEEE International Conference on.IEEE,2012:2803-2808.
[9]Meng D,Jia Y,Du J,et al.Tracking control over a finite interval for multi-agent systems with a timevarying reference trajectory[J].Systems&Control Letters,2012,61(7):807-818.
[10]Li J,Li J.Adaptive iterative learning control for coordination of second-order multi-agent systems[J].International Journal of Robust&Nonlinear Control,2014,vol ume24(18):3282-3299(18).
[11]Yang S,Xu J X,Ren Q,Multi-agent consensus tracking with initial state error by iterative learning control[C]//Control&Automation(ICCA),11th IEEE International Conference on.IEEE,2014:625-630.
[12]伍巧凤,刘山.初始误差修正的多智能体一致性迭代学习控制[J].计算机工程与应用,2014,(1):29-35.DOI:10.3778/j.issn.1002-8331.1306-0224.
[13]Yang S,Xu J X,Huang D.Iterative learning control for multi-agent systems consensus tracking[C]//Decision and Control(CDC),2012IEEE 51st Annual Conference on.IEEE,2012:4672-4677.
[14]任雪梅,高为炳.任意初始状态下的学习控制[J].自动化学报,1994,20(1):74-79.
[15]Meng D,Jia Y,Du J.Robust Consensus Tracking Control for Multiagent Systens with Initial State Shifts,Disturbances,and Switching Topologies[J].IEEE Transactions on Neural Neworks&Learning Systems,2015,26(4):809-824.
[16]Meng D,Jia Y,Du J,et al.Robust Discrete-Time Iterative Learning Control for Nonlinear Systems with Varying Initial State Shifts[J].IEEE Transactions on Automatic Control,2009,54(11):2626-2631.
[17]孙明轩.初态学习下的迭代学习控制[J].控制与决策,2007,22(8):848-852.
[18]孙明轩.迭代学习控制[M].北京:国防工业出版社,1999.