动态拓扑下时变时延多智能体系统的协同输出调节问题研究
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摘要
网络通信过程中的随机数据丢失等现象将导致网络拓扑结构的动态切换,时变通信时延将导致智能体无规律地异步更新控制输入。针对随机数据丢包和时变通信时延同时存在的多智能体系统,研究其协同输出调节问题。通过引入队列机制,具有时变通信时延的多智能体系统被转化为具有固定通信时延和随机数据丢失的多智能体系统,随后给出基于队列机制的分布式状态变量动态观测器,进而设计出相应的分布式测量输出反馈控制算法。针对具有不稳定外部系统和稳定外部系统多智能体系统,在满足标准假设的前提下,分别给出了解决其协同输出调节问题的充要条件。仿真结果表明,基于队列机制的分布式测量输出反馈控制算法可有效解决动态网络拓扑下具有时变通信时延的多智能体系统协同输出调节问题。
The random data loss that occurs during the communication process of multi-agent systems will lead to the dynamic switching of network topology. The time-varying communication delay will cause the agents to update their control inputs irregularly and asynchronously. In this paper, we deal with the cooperative output regulation problem of multi-agent systems with both random data loss and time-varying communication delay. By applying a queuing mechanism, the multi-agent systems with time-varying communication delay can be modeled as the multi-agent systems with constant communication delay and stochastic packet dropout. Based on the queuing mechanism, we designed the distributed state observers of the leader and the followers. Then, a new distributed measurement output feedback control algorithm is proposed. Under some standard assumptions, the proposed algorithm can solve the cooperative output regulation problem of multi-agent systems with both stochastic packet dropout and time-varying communication delay for unstable or stable exosystem. Then, the corresponding conditions for solving the cooperative output regulation problem are given, respectively. The simulation results show that the measurement output feedback control algorithm based on queue mechanism can effectively solve the cooperative output regulation problem of multi agent systems with time-varying delay under dynamic network topology.
The random data loss that occurs during the communication process of multi-agent systems will lead to the dynamic switching of network topology. The time-varying communication delay will cause the agents to update their control inputs irregularly and asynchronously. In this paper, we deal with the cooperative output regulation problem of multi-agent systems with both random data loss and time-varying communication delay. By applying a queuing mechanism, the multi-agent systems with time-varying communication delay can be modeled as the multi-agent systems with constant communication delay and stochastic packet dropout. Based on the queuing mechanism, we designed the distributed state observers of the leader and the followers. Then, a new distributed measurement output feedback control algorithm is proposed. Under some standard assumptions, the proposed algorithm can solve the cooperative output regulation problem of multi-agent systems with both stochastic packet dropout and time-varying communication delay for unstable or stable exosystem. Then, the corresponding conditions for solving the cooperative output regulation problem are given, respectively. The simulation results show that the measurement output feedback control algorithm based on queue mechanism can effectively solve the cooperative output regulation problem of multi agent systems with time-varying delay under dynamic network topology.
引文
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[16] ZHANG Y,TIAN Y P.Consensus of Data-Sampled Multi-Agent Systems with Random Communication Delay and Packet Loss[J].IEEE Trans on Automatic Control,2010,55(4):939-943
[17] LI H,SHI Y.Network-based Predictive Control for Constrained Nonlinear Systems with Two-Channel Packet Dropouts[J].IEEE Trans on Industrial Electronics,2014,61(3):1574-1582
[18] ZHANG W,TANG Y,HUANG T,et al.Sampled-Data Consensus of Linear Multi-Agent Systems with Packet Losses[J].IEEE Trans on Neural Networks and Learning Systems,2017,28(11):2516-2527
[19] MENG Z,YANG T,DIMAROGONAS D V,et al.Coordinated Output Regulation of Heterogeneous Linear Systems under Switching Topologies[J].Automatica,2015,53:362-368
[20] LIU W,HUANG J.Cooperative Global Robust Output Regulation for Nonlinear Output Feedback Multi-Agent Systems under Directed Switching Networks[J].IEEE Trans on Automatic Control,2017,62(12):6339-6352
[21] SU Y,HUANG J.Cooperative Output Regulation with Application to Multi-Agent Consensus Under Switching Network[J].IEEE Trans on Systems,Man,and Cybernetics,2012,42(3):864-875
[22] LU M,HUANG J.Cooperative Output Regulation Problem for Linear Time-Delay Multi-Agent Systems under Switching Network[J].Neurocomputing,2016,190:132-139
[2] LI H,YAN W.Receding Horizon Control Based Consensus Scheme in General Linear Multi-Agent Systems[J].Automatica,2015,56:12-18
[3] 陈旿,李胆胆,左颖,等.一种基于马尔可夫随机场的多无人航行体的协同一致性算法[J].西北工业大学学报,2017,35(1):50-58CHEN Wu,LI Dandan,ZUO Yin,et al.A Collaborative Consensus Algorithm for Multiple Unmanned Vehicles Based on Markov Random Field[J].Journal of Northwestern Polytechnical University,2017,35(1):50-58 (in Chinese)
[4] ZUO L,YAN W,YAN M.Efficient Coverage Algorithm for Mobile Sensor Network with Unknown Density Function[J].IET Control Theory & Applications,2017,11(6):791-798
[5] LI H,YAN W,SHI Y.Continuous-Time Model Predictive Control of Under-Actuated Spacecraft with Bounded Control Torques[J].Automatica,2017,75:144-153
[6] REN W,BEARD R W.Consensus Seeking in Multiagent Systems under Dynamically Changing Interaction Topologies[J].IEEE Trans on Automatic Control,2005,50(5):655-661
[7] SU Y,HUANG J.Cooperative Output Regulation of Linear Multi-Agent Systems[J].IEEE Trans on Automatic Control,2012,57(4):1062-1066
[8] DAVISON E J.The Robust Control of a Servomechanism Problem for Linear Time-Invariant Multivariable Systems[J].IEEE Trans on Automatic Control,1976,21(1):25-34
[9] FRANCIS B A,WONHAM W M.The Internal Model Principle of Control Theory[J].Automatica,1976,12(5):457-465
[10] SU Y,HUANG J.Cooperative Output Regulation with Application to Multi-Agent Consensus under Switching Network[J].IEEE Trans on Systems Man & Cybernetics Part B,2012,42(3):864-875
[11] LIU Z,YAN W,LI H.Cooperative Output Regulation of Multi-Agent Systems with Stochastic Data Losses[C]//IEEE Chinese Control Conference,2016:8020-8025
[12] SEYBOTH G S,REN W.Cooperative Control of Linear Multi-Agent Systems via Distributed Output Regulation and Transient Synchronization[J].Automatica,2016,68(C):132-139
[13] WU X,TANG Y,ZHANG W.Stability Analysis of Stochastic Delayed Systems with an Application to Multi-Agent Systems[J].IEEE Trans on Automatic Control,2016,61(12):1-1
[14] Olfati-Saber R,Murray R M.Consensus Problems in Networks of Agents with Switching Topology and Time-Delays[J].IEEE Trans on Automatic Control,2004,49(9):1520-1533
[15] HUANG J,YAN Y.Cooperative Output Regulation of Discrete-time Linear Time-delay Multi-agent Systems[J].IET Control Theory & Applications,2016,10(16):2019-2026
[16] ZHANG Y,TIAN Y P.Consensus of Data-Sampled Multi-Agent Systems with Random Communication Delay and Packet Loss[J].IEEE Trans on Automatic Control,2010,55(4):939-943
[17] LI H,SHI Y.Network-based Predictive Control for Constrained Nonlinear Systems with Two-Channel Packet Dropouts[J].IEEE Trans on Industrial Electronics,2014,61(3):1574-1582
[18] ZHANG W,TANG Y,HUANG T,et al.Sampled-Data Consensus of Linear Multi-Agent Systems with Packet Losses[J].IEEE Trans on Neural Networks and Learning Systems,2017,28(11):2516-2527
[19] MENG Z,YANG T,DIMAROGONAS D V,et al.Coordinated Output Regulation of Heterogeneous Linear Systems under Switching Topologies[J].Automatica,2015,53:362-368
[20] LIU W,HUANG J.Cooperative Global Robust Output Regulation for Nonlinear Output Feedback Multi-Agent Systems under Directed Switching Networks[J].IEEE Trans on Automatic Control,2017,62(12):6339-6352
[21] SU Y,HUANG J.Cooperative Output Regulation with Application to Multi-Agent Consensus Under Switching Network[J].IEEE Trans on Systems,Man,and Cybernetics,2012,42(3):864-875
[22] LU M,HUANG J.Cooperative Output Regulation Problem for Linear Time-Delay Multi-Agent Systems under Switching Network[J].Neurocomputing,2016,190:132-139