随机多智能体系统一致性增益的设计与分析

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.

Design and analysis of the consensus gain for stochastic multi-agent systems

This article addresses the tracking control for multi-agent systems with the additive stochastic noises on directed graph,When vertex of the leader is globally reachable on the digraph, combined with the proposed fully distributed consensus control protocol, where adaptive rate of the time-varying consensus gain only depends on the tracking error for each agent.By using algebraic graph theory, adaptive control theory and stochastic theory tools, two conclusions are obtained: 1)The tracking error converges to 0 in mean square; 2)The time-varying consensus gain of each agent tends to the optimal value. Finally, the effectiveness of the proposed algorithm are validated by a simulation example.