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1.
为了提高分布式一致性算法的收敛速度, 提出了一种离散高阶分布式一致性算法。该算法通过单跳通信, 利用二跳邻接节点的前多步信息来加速分布式一致性算法的收敛速度。对无向通信拓扑下该算法的收敛性能和收敛速度, 以及带通信延时的该算法的收敛性能进行了分析和仿真比较, 结果显示, 该算法在满足条件下能收敛到初始状态的平均值, 与同样利用二跳邻接节点信息的算法相比, 具有通信量小, 收敛速度更快的特点, 但是能容忍的通信延时变小。  相似文献   

2.
现有关于多智能体一致性事件触发控制策略的研究工作都是假设智能体的通信拓扑图为无向的,而在实际应用中,智能体网络中的通信更多的具有方向性。针对上述问题,提出一种事件触发控制下的有向网络一致性分析方法,使智能体能避免连续通信,同时建立网络的代数连通度和一致性收敛性能之间的联系,证明每个智能体的时间间隔都是正实数,从而可以避免Zeno行为。仿真结果表明了该分析方法的有效性。  相似文献   

3.
针对一类由连续时间一阶和二阶智能体组成的异质多智能体系统,首先给出一阶和二阶智能体实现一致性的算法,其次利用图论和矩阵理论相关知识,在固定有向拓扑结构下,给出异质多智能体系统实现一致性的充要条件,且在一致性实现时给出一致性状态的确切表达式;在切换拓扑结构下,给出异质多智能体系统实现一致性的充分条件。最后给出数值算例验证了相关结论的有效性。  相似文献   

4.
综述了多智能体系统分布式一致性问题的研究现状。从理论层面介绍了一致性问题的几种常见定义及与特性相关的主要参数;总结归纳了近年来几种一致性协议及其理论分析结果;分析和阐述了一致性问题的主要应用领域的进展。展望了未来的研究方向。  相似文献   

5.
刘源  刘宁宁  曾显普 《控制与决策》2024,39(11):3866-3872
针对有向通信拓扑下的二阶多智能体系统分布式优化问题,提出一种固定时间收敛的分布式控制算法.该算法基于新的分布式估计器设计,通过局部信息交换,使各智能体能够对全局目标函数梯度进行准确估计.在估计器的基础上,为各智能体设计分布式固定收敛时间算法,以确保所有个体在有限时间内收敛于目标函数的最优解.通过运用固定时间收敛理论和不等式缩放技巧,对算法的稳定性进行理论证明,并通过数值仿真实验验证所设计算法的有效性.  相似文献   

6.
伪多跳中继分布式一致性算法   总被引:1,自引:0,他引:1       下载免费PDF全文
为了提高分布式一致性问题的收敛速度, 减少节点间的通信成本, 本文提出一种分布式一致性算法. 新算法采用单跳通信, 利用非邻接节点的前状态信息进行节点状态更新. 本文证明了在无向通信拓扑下新算法的一致性收敛, 并分析计算了新算法的通信量以及收敛速度的变化. 通过理论分析和仿真验证, 结果表明新算法具有收敛速度快, 通信方式简单, 通信量少, 存在通信延时情况下通信数据不容易丢失等优点.  相似文献   

7.
本文对非平衡有向拓扑下一阶多智能体系统的分布式优化问题进行研究.研究的智能体在与邻居的通信过程中都有一个变化的时延.本文的目标是找到使得目标函数f(x)=(NΣi=1)fi(xi)最小的智能体的状态.提出了一种基于有向图的拉普拉斯矩阵的零特征值对应的左特征向量和智能体的局部信息的控制器.在这项研究中,去掉了fi(xi)...  相似文献   

8.
有向切换通信拓扑下多无人机分布式编队控制   总被引:1,自引:0,他引:1       下载免费PDF全文
本文对多无人机分布式时变编队控制问题进行了研究. 无人机之间的通信拓扑假定是有向和切换的. 基于自身状态与邻居状态的相对局部信息构建了分布式编队控制器. 通过引入一个恰当的编队误差向量, 将有向切换通信拓扑下的多无人机编队问题转化为一个切换系统的镇定问题. 基于Lyapunov稳定性分析方法得到了达成编队的充分性条件. 仿真实验结果验证了结论的有效性.  相似文献   

9.
本文研究了在间歇通信机制下具有两层网络拓扑结构的多智能体系统一致性问题.首先,提出了一种在间歇通信机制下的一致性控制协议,通过建立网络结构模型和误差系统模型,将一致性问题等效转化为线性时滞系统的渐近稳定性问题.其次,利用Lyapunov-Krasovskii泛函分析方法,导出了多智能体网络在间歇通信机制下达到一致性的充分条件,结论以一组 LMI形式给出.最后,通过仿真算例验证了该方法的有效性.  相似文献   

10.
陈世明  邵赛 《控制理论与应用》2019,36(10):1606-1614
本文研究了在有向拓扑下,带有非线性动力学多智能体系统的固定时间一致性问题.提出了一种新的基于事件触发机制的非线性控制策略,对于每个智能体给出了基于状态信息的事件触发条件,当状态误差满足所给条件时才触发事件,能有效的减小系统的能量耗散和控制器的更新频次.利用Lyapunov稳定性理论和代数图论,证明在该控制策略下,多智能体系统在固定时间能实现领导跟随一致性,且不存在Zeno行为.相较于有限时间一致性策略,采用固定时间一致性策略系统的收敛时间不再依赖于系统的初始状态.最后,仿真实例验证了理论结果的有效性.  相似文献   

11.
In this article, we propose a distributed δ-consensus protocol in directed networks of dynamic agents having communication delays. The δ-consensus protocol is an average consensus protocol where agents exchange the information with their neighbours at some discontinuous moments. We provide convergence analysis for such consensus algorithm under stochastic switching communication graphs, and then present some generic criteria for solving the average consensus problem. We also show that directed delayed networks of dynamic agents can achieve average consensus even when each agent in the networks intermittently exchanges the information with its neighbours only at some discrete moments. Subsequently, a typical numerical example illustrates and visualises the effectiveness and feasibility of the theoretical results.  相似文献   

12.
    
This paper deals with finite-time scaled consensus problems over undirected and directed topologies, wherein agents’ states reach prescribed ratios in a finite time. We develop distributed linear iterations as a function of a linear operator on the underlying network and present necessary and sufficient conditions guaranteeing scaled consensus in a fixed number of steps equal to the number of distinct eigenvalues of a related linear operator. We identify the dependence of the final consensus states on the initial state condition, which can be conveniently and freely tuned by designing suitable parameters. Our results extend the recently developed approach on successive nulling of eigenvalues from complete consensus to scaled consensus, and from undirected topologies to directed topologies. Numerical examples and comparison studies are provided to illustrate the effectiveness of our theoretical results.  相似文献   

13.
    
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent’s full state is available or not, two distributed protocols are proposed to ensure that states of all agents can be convergent to a same stationary value. In the proposed protocols, the gain vector associated with the agent’s (estimated) state and the gain vector associated with the relative (estimated) states between agents are designed in a sophisticated way. By this particular design, the high-order integral multi-agent system can be transformed into a first-order integral multi-agent system. Also, the convergence of the transformed first-order integral agent’s state indicates the convergence of the original high-order integral agent’s state, if and only if all roots of the polynomial, whose coefficients are the entries of the gain vector associated with the relative (estimated) states between agents, are in the open left-half complex plane. Therefore, many analysis techniques in the first-order integral multi-agent system can be directly borrowed to solve the problems in the high-order integral multi-agent system. Due to this property, it is proved that to reach a consensus, the switching directed topology of multi-agent system is only required to be ‘uniformly jointly quasi-strongly connected’, which seems the mildest connectivity condition in the literature. In addition, the consensus problem of discrete-time high-order integral multi-agent systems is studied. The corresponding consensus protocol and performance analysis are presented. Finally, three simulation examples are provided to show the effectiveness of the proposed approach.  相似文献   

14.
    
This article studies a consensus problem for a group of high-order dynamic agents with fixed and switching topologies. Two linear consensus protocols, which only depend on the agent's own information and its neighbours' partial information, are proposed, respectively, for the group with and without communication time-delays. For the case of fixed topology and zero communication time-delay, a necessary and sufficient condition for the consensus is established. The parameter design of the protocol is also discussed. Under switching topology, the consensus is investigated for two cases: the case of zero communication time-delay and the case of nonuniform communication time-delays. For each case, a sufficient condition for the consensus is provided. Moreover, for a group of double/triple-integrator agents with fixed topology and uniform constant time-delay, some necessary and sufficient conditions for the consensus are given. Finally, numerical simulations are worked out to illustrate the effectiveness of the theoretical results.  相似文献   

15.
    
We consider distributed estimation on a directed graph with switching topologies. Motivated by a recent PI consensus filter, we modify the protocol and remove the requirement of bidirectional exchange of neighboring gains for fixed topologies. We then extend the protocol to switching topologies and propose a new hybrid consensus filter design. Convergence results under both balanced directed, and general directed graphs are given for switching graphs. Consensus error bounds are analytically derived in the case of time‐varying inputs. Satisfactory simulation results are shown. Copyright © 2014 John Wiley & Sons, Ltd.  相似文献   

16.
    
The guaranteed performance consensus problem for multi-agent systems with Lipschitz nonlinear dynamics is investigated, where the interaction topology is directed. Both switching and fixed interaction topologies are considered. By the matrix transformation method, the guaranteed performance consensus problems are transferred into guaranteed performance stabilisation problems. Then, the criteria of guaranteed performance consensus for nonlinear multi-agent systems with switching and fixed interaction topologies are obtained, respectively. For the introduced performance function, an upper bound is given. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed results.  相似文献   

17.
宗鑫  崔艳 《计算机应用》2015,35(5):1358-1360
研究了具有随机通信时延的二阶多智能体系统的一致性控制问题.分别讨论了具有固定拓扑结构和变化拓扑结构两种情形下二阶多智能体系统在具有随机通信时延情况下的一致性问题.通过构造Lyapunov函数的方法得到多智能体系统的时延依赖稳定判据,并以线性矩阵不等式(LMI)的形式给出了系统稳定的条件.最后,仿真和实验结果验证了研究所得结论的正确性和有效性.  相似文献   

18.
首次针对二阶多智能体系统提出广义一致性的概念;然后探讨有向网络拓扑结构下的二阶多智能体系统的线性广义一致性问题.通过设计有效的控制协议,使用代数图论和稳定性理论,推导获得二阶的多智能体系统以及带有通信延迟的二阶系统实现线性广义一致性的充分且必要条件.结果表明,在有向网络中,耦合增益参数和拉普拉斯矩阵的特征值对达到广义一致起着关键作用;最后,数值仿真验证了结果的正确性.  相似文献   

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