异质多智能体系统滞后一致性跟踪控制
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摘要
针对一阶、二阶混合异质多智能体系统的滞后一致性问题,提出了一种基于牵制控制的分布式滞后一致性控制协议。首先,将滞后一致性分析转化为稳定性证明;然后,利用图论和Lyapunov稳定性理论分析闭环系统稳定性;最后,分别在固定拓扑和切换拓扑结构下给出了基于线性矩阵不等式(LMI)形式的滞后一致性可解的充分条件,从而实现异质多智能体的领导-跟随者滞后一致性。数值仿真结果表明,所提出的滞后一致性控制方法可以使异质多智能体系统实现领导-跟随者滞后一致性。
Aiming at the lag consensus problem of first-order and second-order hybrid heterogeneous multi-agent systems,a distributed lag consensus control protocol based on pinning control was proposed. Firstly, the lag consensus analysis was transformed into stability verification. Then, the stability of closed loop system was analyzed by using graph theory and Lyapunov stability theory. Finally, the sufficient conditions for solvability of lag consensus based on Linear Matrix Inequality( LMI) were given under fixed and switching topologies respectively, so that leader-follower lag consensus of heterogeneous multi-agent system was achieved. The numerical simulation results show that, the proposed lag consensus control method can make the heterogeneous mult-agent systems achieve leader-follower lag consensus.
Aiming at the lag consensus problem of first-order and second-order hybrid heterogeneous multi-agent systems,a distributed lag consensus control protocol based on pinning control was proposed. Firstly, the lag consensus analysis was transformed into stability verification. Then, the stability of closed loop system was analyzed by using graph theory and Lyapunov stability theory. Finally, the sufficient conditions for solvability of lag consensus based on Linear Matrix Inequality( LMI) were given under fixed and switching topologies respectively, so that leader-follower lag consensus of heterogeneous multi-agent system was achieved. The numerical simulation results show that, the proposed lag consensus control method can make the heterogeneous mult-agent systems achieve leader-follower lag consensus.
引文
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[18]WEN G G,HUANG J,WANG C Y,et al.Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies[J].International Journal of Control,2016,89(2):259-269.
[19]ZHANG Q,HAO Y R,YANG Z Q,et al.Adaptive flocking of heterogeneous multi-agents systems with nonlinear dynamics[J].Neurocomputing,2016,216(C):72-77.
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[2]李向军,刘成林,刘飞.时延异构多自主体系统的群一致性分析[J].计算机应用,2016,36(5):1439-1444.(LI X J,LIU C L,LIU F.Group consensus of heterogeneous multi-agent systems with time delay[J].Journal of Computer Applications,2016,36(5):1439-1444.)
[3]刘秀华,高宪文,韩建.基于干扰观测器的二阶多智能体系统模型参考一致性[J].控制与决策,2017,32(1):79-85.(LIU X H,GAO X W,HAN J.Disturbance observers based model-reference consensus of second-order multi-agent systems[J].Control and Decision,2017,32(1):79-85.)
[4]王亚军,张申,胡青松,等.具有测量噪声的时滞多智能体系统的一致性问题[J].山东大学学报(理学版),2017,52(1):74-80.(WANG Y J,ZHANG S,HU Q S,et al.Consensus problem of time-delay multi-agent system with measurement noise[J].Journal of Shandong University(Natural Science),2017,52(1):74-80.)
[5]严求真,孙明轩,李鹤.非参数不确定多智能体系统一致性误差跟踪学习控制[J].控制理论与应用,2016,33(6):793-799.(YAN Q Z,SUN M X,LI H.Consensus-error-tracking learning control for nonparametric uncertain multi-agent system[J].Control Theory&Applications,2016,33(6):793-799.)
[6]ZHAO L,YU J P,LIN C,et al.Adaptive neural consensus tracking for nonlinear multiagent systems using finite-time command filtered backstepping[J].IEEE Transactions on Systems,Man and Cybernetics:Systems,2017,48(11):2003-2012.
[7]LIU X Z,ZHANG K X,XIE W C.Consensus seeking in multiagent systems via hybrid protocols with impulse delays[J].Nonlinear Analysis Hybrid System,2017,25:90-98.
[8]CHEN K R,WANG J W,ZHANG Y,et al.Consensus of secondorder nonlinear multi-agent systems under state-controlled switching topology[J].Nonlinear Dynamics,2015,81(4):1871-1878.
[9]金治群,牛玉刚,邹媛媛.带有滑模观测器的多智能体一致性控制[J].控制理论与应用,2017,34(2):251-259.(JIN Z Q,NIUY G,ZOU Y Y.Consensus for multi-agent systems with slidingmode observer[J].Control Theory&Applications,2017,34(2):251-259.)
[10]REN W,ATKINS E.Distributed multi‐vehicle coordinated control via local information exchange[J].International Journal of Robust and Nonlinear Control,2007,17(10/11):1002-1033.
[11]NI J,LIU L,LIU C X,et al.Fixed-time leader-following consensus for second-order multiagent systems with input delay[J].IEEETransactions on Industrial Electronics,2017,64(11):8635-8646.
[12]DAI P P,LIU C L,LIU F.Consensus problem of heterogeneous multi-agent systems with time delay under fixed and switching topologies[J].International Journal of Automation and Computing,2014,11(3):340-346.
[13]谢媛艳,王毅,马忠军.领导-跟随多智能体系统的滞后一致性[J].物理学报,2014,63(4):13-17.(XIE Y Y,WANG Y,MAZ J.Delay consensus of leader-following multi-agent systems[J].Acta Physica Sinica,2014,63(4):13-17.)
[14]LIU X W,DENG Y S.Lag consensus of second-order leader-following multiagent systems with communication delays[C]//Proceedings of the 36th Chinese Control Conference.Piscataway,NJ:IEEE,2017:8783-8788.
[15]WANG Y,MA Z J.Lag consensus of the second-order leader-following multi-agent systems with nonlinear dynamics[J].Neurocomputing,2016,171(C):82-88.
[16]WANG Y,MA Z J,ZHENG S,et al.Pinning control of lag-consensus for second-order nonlinear multiagent systems[J].IEEETransactions on Cybernetics,2016,47(8):2203-2211.
[17]LUO J,LIU C L,LIU F.Distributed consensus analysis for a class of heterogeneous multi-agent systems composed of first-order and fourth-order integrators[C]//Proceedings of the 12th IEEE International Conference on Control and Automation.Piscataway,NJ:IEEE,2016:564-570.
[18]WEN G G,HUANG J,WANG C Y,et al.Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies[J].International Journal of Control,2016,89(2):259-269.
[19]ZHANG Q,HAO Y R,YANG Z Q,et al.Adaptive flocking of heterogeneous multi-agents systems with nonlinear dynamics[J].Neurocomputing,2016,216(C):72-77.
[20]SHARGHI A,BARADARANNIA M,HASHEMZADEH F.Leader-follower fixed-time consensus for multi-agent systems with heterogeneous non-lineader inherent dynamics[C]//Proceedings of the3rd IEEE International Conference on Soft Computing&Machine Intelligence.Piscataway,NJ:IEEE,2016:224-228.
[21]LIU K,JI Z J,XIE G M,et al.Consensus for heterogeneous multi-agent systems under fixed and switching topologies[J].Journal of the Franklin Institute,2015,352(9):3670-3683.
[22]HAN N N,LUO X Y.Tracking and distributed formation control for leader-following heterogeneous multi-agent systems[C]//Proceedings of the 35th Control Conference.Piscataway,NJ:IEEE,2016:7897-7901.
[23]GODSIL C,ROYLE G F.Algebraic Graph Theory[M].Berlin:Springer,2001:151-181.
[24]HORN R A,JOHNSON C R.Matrix Analysis[M].Cambridge:Cambridge University Press,1985:1-17.