共查询到16条相似文献,搜索用时 125 毫秒
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针对负载为超级电容的并联DC-DC变换器系统,为了在固定时间内实现电流输出均衡目标,提出固定时间分布式协同控制方法.将耦合子系统之间的通信拓扑,利用无向图进行刻画.借助输入输出反馈线性化技术,将并联DC-DC变换器系统的电流均衡控制设计难题转化为固定时间内一阶多智能体系统的一致性跟踪问题.借助符号函数、拉普拉斯矩阵、牵制增益矩阵,基于最近邻原则,设计参数可调的固定时间电流均衡分布式协同控制律.利用李亚谱诺夫函数严格证明整个闭环系统的稳定性,并推导出收敛时间的上界.所提出的固定时间电流均衡分布式协同控制方法,可以克服有限时间协同控制方法对初始状态依赖性强的缺点,同时改善了系统的收敛性.借助仿真,验证了所提出方法的有效性和可行性. 相似文献
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针对一类非等同非线性耦合互联系统,提出分布式协作负载均衡优化控制方法.将子系统间的通信联系建模成有向图,借助输入输出反馈线性化技术,将耦合互联系统的分布式负载均衡控制设计问题转化为广义线性多智能体系统的同步跟踪问题;基于最近邻原则和LQR方法,设计增益可调的分布式协作负载均衡优化控制律,耦合强度依赖于通信拓扑,控制增益依赖于子系统模型;借助矩阵变换方法,整个闭环系统的渐近稳定性可以解耦成每个子系统的稳定性,在假定通信拓扑只含有生成树的条件下,借助李亚谱诺夫函数,可证明整个闭环系统是稳定的,且通过调节控制增益,可以得到期望的响应速度.仿真结果验证了所提出控制方法的有效性及可行性. 相似文献
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针对多智能体系统中信息交互存在通信时延这一约束,在无向符号图拓扑结构下分别研究了含固定时延和时变时延的一阶多智能体系统二分一致性问题。通过设计相应的控制协议,使得该系统收敛到两个模值相同但符号不同的状态。在稳定性分析中,利用广义Nyquist准则的方法,得到含固定时延多智能体系统实现二分一致性的充分条件;对含时变时延系统构造包含三重积分项的Lyapunov函数,利用积分不等式和线性矩阵不等式理论,并结合自由矩阵的方法得到含时变时延多智能体系统实现二分一致性的充分条件。最后,数值仿真验证了所得结论的有效性和正确性。 相似文献
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针对一类具有容性负载的直流微电网系统, 提出了分布式协同控制方法. 具有容性负载的直流微电网是一类耦合动态互联非线性网络化系统, 可将DC-DC变换器在信息层视为智能体, 在每个子系统模块中, 引入容性负载电压观测器, 耦合并联非线性系统负载均衡控制设计问题可解耦成一阶积分器多智能体系统的输出一致性跟踪问题. 基于最近邻原则, 通过在控制器中引入比例、积分环节, 设计了增益可调的分布式协同PI控制律, 当有向图满足至少含有一棵生成树的条件下, 通过子系统间的局部交互, 可以实现负载均衡的目标. 通过分析增广系统矩阵的特征值证明了整个闭环系统的稳定性. 仿真和实验说明了所提出的控制方法的有效性及可行性. 相似文献
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二分-分量一致性是指网络系统中部分具有相似特性智能体的某些分量随时间推移趋于相同的值,而剩余智能体的某些分量则随时间趋于相反的值,是一种弱于恒同一致和二分一致的动力学行为.为此,对符号网络上非线性多智能体系统的二分-分量一致性问题展开研究.首先,针对多智能体系统中各智能体之间存在的合作关系或竞争关系,设计有效的自适应牵制控制器;随后,基于Lyapunov稳定性理论和矩阵理论,导出该非线性系统二分-分量一致性得以实现的充分条件;最后,通过数值模拟验证理论结果. 相似文献
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Bipartite Linear χ‐Consensus of Double‐Integrator Multi‐Agent Systems With Measurement Noise 下载免费PDF全文
The bipartite consensus problem is investigated for double‐integrator multi‐agent systems in the presence of measurement noise. A distributed protocol with time‐varying consensus gain is proposed. By using tools of state transition matrix and algebraic graph theory, necessary and sufficient conditions for the designed protocol to be a mean square bipartite linear χ‐consensus protocol are given. It is shown that the signed digraph being structurally balanced and having a spanning tree are not only sufficient, but also necessary for bipartite consensus. Furthermore, the protocol is proved to be a mean square bipartite average consensus protocol if the signed graph is weight balanced. 相似文献
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Qiang Jiao Hongwei Zhang Shengyuan Xu Frank L. Lewis Lihua Xie 《International journal of control》2013,86(12):2963-2972
In this paper, we consider bipartite tracking of linear multi-agent systems with a leader. Both homogeneous and heterogeneous systems are investigated. The communication between agents is modelled by a directed signed graph, where the negative (positive) edges represent the antagonistic (cooperative) interactions among agents. Linear Quadratic Regulator (LQR)-based approach is used to derive the distributed protocol for the follower agent to achieve bipartite tracking of the leader. It is shown that solving the bipartite tracking problem over the structurally balanced signed graph is equivalent to solving the cooperative tracking problem over a corresponding graph with nonnegative edge weights. This bridges the gap between the newly raised bipartite tracking problem and the well-studied cooperative tracking problem. Three novel control protocols are proposed for both cooperative and bipartite output tracking of heterogeneous linear multi-agent systems. Numerical examples are given to show the effectiveness of our control protocols. 相似文献
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本文针对一类存在输入时延的非线性多智能体系统,研究了其在结构平衡的无向符号图下的固定时间二分一致性问题.首先,本文针对智能体间相互合作与相互竞争的关系,设计了一类存在输入时延的多智能体系统固定时间分布式一致性控制协议,使得系统状态在固定时间内收敛到数值相同但符号相反的两个值,且收敛时间上界与初始状态无关.随后,利用Lyapunov稳定性理论和代数图论给出了在存在输入时延的情况下多智能体系统实现固定时间二分一致性的充分条件和收敛时间的上界值,证明了控制算法的稳定性.最后,仿真实例验证了所提固定时间二分一致性算法和理论结果的有效性. 相似文献
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研究符号图下具有扰动的多智能体系统二分一致性控制问题.考虑了线性系统、非线性不确定系统以及切换拓扑的情况,分别提出相应的预定时间控制器,各控制器可使系统在预定时间内实现二分一致性.通过Lyapunov稳定性理论、代数图论和矩阵分析等验证算法的准确性;仿真对比实验验证了所提算法的可行性和有效性;相较于有限时间控制算法,所提算法的收敛时间不依赖于初始状态,可以通过选择单一时间参数设定系统收敛时间上界;相较于固定时间控制算法,所提算法预设收敛时间与控制算法参数无关,设定简单,具有更低的保守性. 相似文献
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Adaptive bipartite consensus control of high‐order multiagent systems on coopetition networks 下载免费PDF全文
In this paper, a bipartite consensus problem is considered for a high‐order multiagent system with cooperative‐competitive interactions and unknown time‐varying disturbances. A signed graph is used to describe the interaction network associated with the multiagent system. The unknown disturbances are expressed by linearly parameterized models, and distributed adaptive laws are designed to estimate the unknown parameters in the models. For the case that there is no exogenous reference system, a fully distributed adaptive control law is proposed to ensure that all the agents reach a bipartite consensus. For the other case that there exists an exogenous reference system, another fully distributed adaptive control law is also developed to ensure that all the agents achieve bipartite consensus on the state of the exogenous system. The stability of the closed‐loop multiagent systems with the 2 proposed adaptive control laws are analyzed under an assumption that the interaction network is structurally balanced. Moreover, the convergence of the parameter estimation errors is guaranteed with a persistent excitation condition. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed adaptive bipartite consensus control laws for the concerned multiagent system. 相似文献
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In this paper, the consensus problem for leader-following linear multi-agent systems with external disturbances is investigated. Brownian motions are used to describe exogenous disturbances. A distributed tracking controller based on Riccati inequalities with an adaptive law for adjusting coupling weights between neighbouring agents is designed for leader-following multi-agent systems under fixed and switching topologies. In traditional distributed static controllers, the coupling weights depend on the communication graph. However, coupling weights associated with the feedback gain matrix in our method are updated by state errors between neighbouring agents. We further present the stability analysis of leader-following multi-agent systems with stochastic disturbances under switching topology. Most traditional literature requires the graph to be connected all the time, while the communication graph is only assumed to be jointly connected in this paper. The design technique is based on Riccati inequalities and algebraic graph theory. Finally, simulations are given to show the validity of our method. 相似文献