输入时滞多智能体系统的输入受限一致性控制

doi:10.12305/j.issn.1001-506X.2024.09.29

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (9): 3176-3184.doi: 10.12305/j.issn.1001-506X.2024.09.29

• 制导、导航与控制 • 上一篇

输入时滞多智能体系统的输入受限一致性控制

刘伟民¹^,², 王永越¹, 马欣阳³^,*, 刘金琨³

1. 北方自动控制技术研究所, 山西太原 030006
2. 北京理工大学自动化学院, 北京 100081
3. 北京航空航天大学自动化科学与电气工程学院, 北京 100191

收稿日期:2023-07-07 出版日期:2024-08-30 发布日期:2024-09-12
通讯作者: 马欣阳
作者简介:刘伟民 (1991—), 男, 副研究员, 博士研究生, 主要研究方向为智能指挥控制、指挥信息系统、仿真推演、博弈对抗
王永越 (1990—), 男, 工程师, 博士研究生, 主要研究方向为多智能体控制系统、指挥控制系统、机器学习处理器体系结构、机器学习系统软件
马欣阳 (1998—), 男, 博士研究生, 主要研究方向为分布参数控制、多智能体控制
刘金琨 (1965—), 男, 教授, 博士, 主要研究方向为飞行器控制、机器人控制、分布参数控制
基金资助:
国家自然科学基金(62273020)

Consensus control for input-delay multi-agent system with input constraint

Weimin IU¹^,², Yongyue WANG¹, Xinyang MA³^,*, Jinkun LIU³

1. North Automatic Control Technology Institute, Taiyuan 030006, China
2. School of Automation, Beijing Institute of Technology, Beijing 100081, China
3. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received:2023-07-07 Online:2024-08-30 Published:2024-09-12
Contact: Xinyang MA

摘要/Abstract

摘要：

针对具有输入幅值约束的输入时滞机械系统，研究基于有向图拓扑的多智能体系统(multi-agent system, MAS)的一致性控制问题。对于只有部分智能体能够接收到理想信号的情况，提出一种观测器，使每个智能体都能观测到理想信号，并证明观测误差的指数收敛性。在控制器设计中，通过将系统的输入积分反馈到控制器中，消除输入延迟的影响；结合输入积分法和双曲正切函数，在解决输入延迟问题的同时限制控制输入幅值，并利用FMINCON函数优化控制参数。最后，利用李雅普诺夫方法证明控制目标的实现和闭环系统的渐近稳定性。仿真结果表明，所提出的观测器和控制器能够有效实现系统的一致性控制。

关键词: 多智能体系统, 有向图, 输入受限, 输入延迟, 一致性控制

Abstract:

For input-delayed mechanical system with input amplitude constraints, the consensus control problem of multi-agent system (MAS) based on directed graph topology is studied. For scenarios where only some agents can receive the desired signal, an observer is proposed to enable each agent to observe the desired signal, with exponential convergence of the observation error being proven. In the controller design, the system's input integral is fed back to the controller to eliminate the effects of input delay. By combining the input integral method with the hyperbolic tangent function, the input amplitude is limited while addressing the input delay issue. The FMINCON function is used to optimize the control parameters. Finally, the Lyapunov method is utilized to prove the achievement of control objectives and the asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed observer and controller in achieving system consensus control.

Key words: multi-agent system (MAS), directed graph, input constraint, input delay, consensus control

中图分类号:

TP273

刘伟民, 王永越, 马欣阳, 刘金琨. 输入时滞多智能体系统的输入受限一致性控制[J]. 系统工程与电子技术, 2024, 46(9): 3176-3184.

Weimin IU, Yongyue WANG, Xinyang MA, Jinkun LIU. Consensus control for input-delay multi-agent system with input constraint[J]. Systems Engineering and Electronics, 2024, 46(9): 3176-3184.

图/表 5

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输入时滞多智能体系统的输入受限一致性控制

Consensus control for input-delay multi-agent system with input constraint

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