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1.
有向网络下非线性多智能体系统的协调跟踪   总被引:1,自引:0,他引:1  
马广富  梅杰 《控制与决策》2011,26(12):1861-1864
基于一致性理论,在有向拓扑结构下研究非线性多智能体系统的协调跟踪控制问题.考虑智能体动力学模型为一般且仅满足Lipschitz条件的非线性系统,在仅有部分跟随智能体能获取领航智能体信息的情形下,当领航智能体与跟随智能体之间的拓扑结构具有有向生成树,即存在领航智能体到所有跟随智能体的有向路径时,所设计的分布式控制律可实现所有跟随智能体对领航智能体的跟踪,并指出该拓扑结构是系统实现跟踪的一个必要条件.最后,仿真实验验证了所设计控制算法的有效性.  相似文献   

2.
基于一致性理论,在有向通讯拓扑结构下对多航天器系统相对轨道及姿态的耦合协同控制问题进行了研究.本文考虑近地航天器相对轨道的非线性方程以及用罗德里格参数描述的航天器姿态运动方程,建立了考虑控制输入耦合的六自由度航天器运动模型.在仅有部分跟随航天器可获取参考状态(记为领航航天器)的情形下,针对航天器存在未建模动态以及外部环境干扰等问题,提出了一种基于切比雪夫神经网络(Chebyshev neural networks,CNN)的自适应增益控制律,使得各跟随航天器在轨道交会的同时姿态保持一致.因为每个航天器上的控制算法仅依赖其自身及相邻航天器的信息,因此控制算法是分布式的.同时考虑到航天器之间的相对速度及相对角速度难以测量,提出了无需相对速度及角速度信息的分布式自适应协同控制律使得各航天器保持一定的队形且具有期望的相对指向.最后对6颗航天器的编队飞行进行了仿真分析,仿真结果表明本文设计的分布式自适应协同控制律是有效可行的.  相似文献   

3.

基于一致性算法, 在有向通讯拓扑下, 研究存在状态约束的多航天器系统分布式有限时间姿态协同跟踪控制问题. 在仅有部分跟随航天器可以获取领航航天器状态, 并且跟随航天器之间存在不完全信息交互的情形下, 设计了分布式快速终端滑模面, 提出了不依赖于模型的分布式有限时间姿态协同跟踪控制律. 根据有限时间Lyapunov 稳定性定理, 证明了系统的状态在有限时间内收敛于领航航天器状态的小邻域内. 最后通过仿真算例验证了所提出算法的有效性.

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4.
针对具有参数不确定性和未知外部扰动的Euler-Lagrange多智能体系统,设计一种基于自适应滑模控制的分布式蜂拥算法.该算法使用自适应滑模控制和自适应控制律分别补偿未知的外部扰动与模型中可线性参数化回归的不确定项,从而在实现蜂拥控制的同时,避免智能体对外部扰动先验知识的要求.理论分析表明,在多智能体达成蜂拥的同时,算法保证滑模的自适应增益有界.此外,所提出的算法同时考虑虚拟领导者追踪与基于目标区域的跟踪问题,并给出碰撞避免的条件.最后,通过算例仿真验证所提出算法的有效性.  相似文献   

5.
针对带有动态领导者的多智能体系统,为了使其达到跟踪一致性,设计只依赖于相对位置信息的自适应跟踪控制律.根据接收到的相对位置信息为每个跟随者设计动态输出反馈控制律,并根据控制律估计出智能体之间的相对速度信息.在此基础上设计自适应跟踪控制律,并且通过Lyapunov 稳定性理论和矩阵理论分析得到使系统达到跟踪一致性的充分条件.最后通过数值仿真验证了所提出的设计方法的有效性.  相似文献   

6.
在固定和切换拓扑中通信网络含有加性随机噪声的情况下,针对随机多智能体系统一致性跟踪控制问题,本文采用自适应控制方法给出了一种新的一致性增益设计方法.在基于邻居智能体状态设计的分布式自适应控制协议中,每个跟随者的一致性增益自适应律仅仅依赖于跟踪误差,并且与通信网络全局信息无关.结合代数图论,随机理论工具和自适应控制得到两个结论:1)每个跟随者以均方意义下跟踪上领导者; 2)每个跟随者的一致性增益趋于一个理想估计值.通过两个仿真实例验证算法的有效性.  相似文献   

7.
刘娟  张皓  王祝萍 《自动化学报》2019,45(10):1893-1902
本文针对线性异构多智能体系统,基于自适应自触发条件,分别设计了状态和输出反馈协同控制器.其中自适应控制策略可以避免使用多智能体系统的全局信息,从而实现分布式控制;自触发控制不仅可以避免对触发条件进行连续监测,还可以有效地降低网络的通信负载和控制器的更新次数,且不存在芝诺现象.最后通过4个跟随智能体和一个领导智能体进行了协同输出直角编队仿真实验,实现了多智能体系统对外部系统的渐近跟踪和干扰抑制,验证了结果的有效性.  相似文献   

8.

对含有模型非线性不确定性和外部扰动的多Euler-Lagrange 系统的分布式协调包含控制问题进行研究. 考虑通讯拓扑为有向图, 所有领航者均为动态, 且各智能体间相对速度信息不可测情况. 首先, 选取相对速度作为辅助变量, 引入低通滤波器进行估计; 然后, 采用神经网络方法逼近并补偿非线性不确定性, 提出一种分布式自适应包含控制律, 并应用Lyapunov 稳定性理论证明闭环系统的包含误差一致最终有界; 最后, 通过仿真算例验证了所提出的控制律的有效性.

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9.
基于多智能体系统一致性理论,对模块化航天器相对轨道的分布式一致性问题进行了研究.各模块之间的信息交互拓扑结构为更具一般性的有向图.当存在模块质量不确定性的情形下,设计了仅依赖模块自身及其邻近模块信息且无需模块间相对速度信息的自适应控制算法.针对模型中存在外部干扰的情形,通过引入带有时变自适应参数的变结构控制项,实现了对未知上界干扰的补偿,并且证明了闭环系统是渐近稳定的.此外,本文所设计的算法具有分布式的特点,不会因为模块数量的增多而增加所提算法的复杂度.最后对6个模块组成的模块化航天器的编队飞行进行了仿真分析,仿真结果表明本文设计的控制律是有效可行的.  相似文献   

10.
曹然  梅杰 《自动化学报》2018,44(1):44-51
在非对称有向图中,研究网络Euler-Lagrange系统的群一致性问题.每组内的智能体均为合作关系,而组间智能体则可以为合作关系或竞争关系.为了实现群一致性,假设组与组之间是无环连接的且系统有向图满足入度平衡条件.考虑到智能体间相对速度信息难以精确测量的实际情形,设计无需相对速度信息的分布式自适应控制算法,实现网络Euler-Lagrange系统的群一致性.最后通过仿真分析验证所设计算法的有效性.  相似文献   

11.
Considering the existence of communication delays, the adaptive fault-tolerant control problems for constrained multiple Euler–Lagrange systems are considered in this paper. First, a communication delays observer is utilized to enable all followers can acquire the leader's state information. Second, based on neural network technique, two distributed coordinated control schemes are designed to make every follower can track the leader. Compared with the first control algorithm, the adaptive fault-tolerant control problem is further considered in the second control algorithm. The proposed algorithm can simultaneously compensate the actuator bias faults and the partial loss of actuation effectiveness faults. At the same time, a tan-type barrier Lyapunov function is used to constrain the tracking errors of all followers and the leader. Finally, the simulations show the effectiveness of the proposed control schemes.  相似文献   

12.
This paper investigates the task-space synchronised tracking problem of uncertain networked manipulators interconnected on directed graphs, where the dynamic leader is available to only a subset of followers and followers have only local interaction. A fully distributed tracking controller is proposed, which is composed of a distributed desired trajectory estimator, a joint-space velocity observer and an adaptive cooperative control algorithm. Specifically, the proposed controller allows each manipulator to track the dynamic leader solely using local task-space position measurements. Besides, in the presence of both dynamic and kinematic uncertainties, the adaptive cooperative control algorithm indeed improves the system's robustness. Furthermore, it is strictly proved that the proposed control scheme ensures that both task-space position and velocity tracking errors converge to zero as time tends to infinity. In the end, simulation results are provided to demonstrate the effectiveness of the proposed controller.  相似文献   

13.
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs. The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees. This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree. A distributed adaptive pole placement control scheme is developed, which consists of a distributed observer and an adaptive pole placement control law. It is shown that under the proposed distributed adaptive control scheme, all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically. The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.   相似文献   

14.
This paper addresses the tracking problem of leaderfollower multi-agent systems subject to actuator saturation. A leader node or command generator is considered, which generates the desired tracking trajectory. To track such a leader, a new family of scheduled low-and-high-gain feedback controllers is designed for each follower, provided that the linear dynamic mode is asymptotically null controllable with bounded controls, and such control laws rely on the asymptotic property of a class of parametric algebraic Ricatti equations. We show that if the associated undirected graph of the system is connected, with the proposed control law, all the followers can track the leader eventually. A simulation example is finally given to illustrate the performance of the proposed control scheme.   相似文献   

15.
This paper investigates the distributed finite‐time consensus‐tracking problem for coupled harmonic oscillators. The objective is to guarantee a team of followers modeled by harmonic oscillators to track a dynamic virtual leader in finite time. Only a subset of followers can access the information of the virtual leader, and the interactions between followers are assumed to be local. We consider two cases: (i) The followers can obtain the relative states between their neighbors and their own; and (ii) Only relative outputs between neighboring agents are available. In the former case, a distributed consensus protocol is adopted to achieve the finite‐time consensus tracking. In the latter case, we propose a novel observer‐based dynamic protocol to guarantee the consensus tracking in finite time. Simulation examples are finally presented to verify the theoretical analysis. Copyright © 2012 John Wiley & Sons, Ltd.  相似文献   

16.
对一类含未知参数的Euler-Lagrange系统协调控制问题进行了研究, 提出了一种自适应控制算法. 该算法容许通信网络为最一般的伪强连通图, 并允许通信时延的存在. 对系统中领航者为静态和动态两种情况分别进行了研究, 设计了相应的控制器.研究结果表明,在仅有部分个体能够和领航者进行通信的情况下, 控制器能保证网络中其他个体最终和领航者趋于一致. 运用Lyapunov稳定性定理和Barbalat 定理等对自适应控制器的稳定性进行了证明,并利用数值仿真验证了算法的有效性.  相似文献   

17.
In this paper, we develop a novel distributed adaptive control architecture for addressing networked multiagent systems subject to stochastic exogenous disturbances with compromised sensor and actuators. Specifically, for a class of linear leader–follower multiagent systems, we develop a new structure of the neighbourhood synchronisation error for the control design protocol of each follower. The proposed control algorithm addresses time-varying multiplicative sensor attacks on the leader state measurements. In addition, the framework addresses time-varying multiplicative actuator attacks on the followers that do not have a communication link with the leader and additive actuator attacks on all follower agents in the network. The proposed adaptive controller guarantees uniform ultimate boundedness of the state tracking error for each agent in a mean-square sense.  相似文献   

18.
In this paper, we consider the output tracking problem of a multiagent system with asymmetric delays and a switching topology. The multiagent system contains a leader and some followers, the dynamics of which are heterogeneous, and the output of the leader is available to only a subset of followers. We propose two types of observers to estimate states of the leader and reduce communication cost. For the informed followers that can directly obtain information of the leader, a common observer is given to reduce the complexity of observer design. Meanwhile, for the rest of the followers, a distributed observer with asymmetric communication delays for each follower is designed. The observer error system is transformed into a switched system. Through designing the average dwell‐time switching law and constructing multiple Lyapunov functionals, some sufficient conditions for stability of the observer error system are obtained. Furthermore, a distributed controller for followers based on the relative information is developed to track the output of the leader. Finally, an example is given to validate the effectiveness of the proposed results.  相似文献   

19.
This paper addresses the distributed robust containment tracking problem of networked systems with uncertain linear dynamics and multiple controlled leaders. The uncertainty class considered in this paper satisfies some matched conditions. To achieve containment tracking in such a multi-agent system, some distributed controllers consisting of using relative state-based continuous feedback and a non-smooth manoeuvre are developed. By transforming the containment tracking problem into the global robust stabilisation problem of interconnected systems, it is shown that the states of followers will asymptotically converge to a convex hull formed by those of the leaders if the control parameters in the proposed controllers are appropriately selected. It is clearly pointed out that the involved control parameters can be successfully found for solving the containment tracking problem if each follower can be directly or indirectly influenced by at least one leader, and the nominal dynamics of followers are stabilisable. The important issue of how fast containment can be achieved is also addressed. Finally, some numerical simulations are given for illustration.  相似文献   

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