多智能体系统离散时间一致性问题中的参数设计

研究二阶多智能体系统在固定、有向通信拓扑条件下的离散时间一致性问题.针对每个智能体,采用基于速度、位置的分布式控制协议,分析速度、位置增益系数以及采样周期等参数对系统一致性的影响.结果表明,要实现二阶多智能体系统的一致性控制,在保持个体之间通信拓扑有生成树的同时,控制协议中的各个参数还必须满足一定的约束条件.系统拉普拉斯矩阵的特征值和采样周期对系统能否实现渐近一致起到了关键的作用.最后,给出一致性控制中参数设计的一种可行方法,并通过仿真对理论分析的正确性进行验证.     

自适应耦合权重下的异质群体一致性研究

研究了由一阶、二阶智能体组成的异质多智能体系统群体一致性问题。针对固定通信拓扑结构设计了一种基于边的自适应耦合权重控制协议,根据智能体在移动过程中的相对位置调节不同子群中智能体之间的耦合权重,使得多智能体系统仅依赖智能体的邻居信息即可实现群体一致性。通过构造合适的Lyapunov函数,结合图论知识和Lasalle不变原理对系统稳定性进行推理验证。数值仿真结果表明了理论分析的正确性和可行性。     

异质多智能体系统滞后一致性跟踪控制

针对一阶、二阶混合异质多智能体系统的滞后一致性问题,提出了一种基于牵制控制的分布式滞后一致性控制协议。首先,将滞后一致性分析转化为稳定性证明;然后,利用图论和Lyapunov稳定性理论分析闭环系统稳定性;最后,分别在固定拓扑和切换拓扑结构下给出了基于线性矩阵不等式（LMI）形式的滞后一致性可解的充分条件,从而实现异质多智能体的领导-跟随者滞后一致性。数值仿真结果表明,所提出的滞后一致性控制方法可以使异质多智能体系统实现领导-跟随者滞后一致性。     

通信时延下多智能体系统的安全一致性控制

研究了离散时间多智能体系统存在通信时延条件下的安全一致性问题.本文的目标是设计一种一致性控制算法能够使得网络中各正常智能体抵御敌对智能体的攻击并实现最终状态一致.该算法仅利用个体的自身状态和相邻个体的时延信息作为控制输入,并根据控制器参数、拓扑属性和通信时延,获得了所提算法实现收敛的充要条件.最后,通过仿真实例对理论结果进行了验证.     

一类异质多智能体系统的一致性控制

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。     

分布式离散多智能体系统在固定和切换拓扑下的编队控制

研究多智能体系统在分布式采样控制下固定拓扑和时变通信拓扑时的追踪和编队问题. 首先分析目标系统 在没有输入时的稳定性; 然后分别给出在固定和时变通信拓扑下使各智能体完成追踪和编队的控制协议, 并给出了系统稳定时采样间隔需满足条件的充分性和必要性证明; 最后通过仿真研究验证了所提出算法的有效性.

     

离散时间混合多智能体的拟平均一致性控制

为了研究混合一阶和二阶异质无向多智能体网络离散时间一致性问题,提出了固定和可变拓扑结构的多智能体网络的拟平均一致性协议.根据Lyapunov函数和代数图论,分析了多智能体网络的稳定性,表明在固定和可变拓扑结构的情况下,混合阶多智能体系统可以达到拟平均一致.对6个节点组成的4种不同的无向网络拓扑结构进行了仿真,结果显示了变拓扑离散时间异质多智能体网络的位置和速度均能达到拟平均一致.仿真结果表明,该算法对混合阶多智能体网络的拟平均一致性控制有效.     

并联DC-DC变换器系统的固定时间分布式协同控制

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.     

非基于自身状态信息的一致性问题研究

研究允许部分成员不使用自身状态信息的多智能体系统一致性问题。给出一个新的通信协议,允许系统中部分成员甚至全体成员不使用自身信息。通过研究非负随机矩阵谱半径及其对应有向图的结构,分别给出固定通信拓扑和动态通信拓扑下的多智能体系统一致性结果,即在系统通信拓扑所含的生成树中,当且仅当根节点含有自伴环时,系统可以渐近实现信息一致性。仿真结果验证了理论结果的正确性。     

通信拓扑切换下车辆队列分布式模型预测控制

考虑通信拓扑切换下异质非线性车辆队列系统协同控制问题,提出一种能够保证车辆队列稳定和弦稳定的分布式模型预测控制策略.先结合车辆队列动态通信拓扑切换过程,构建与时间相关的图函数,再利用邻居车辆状态信息描述平均协同代价函数,并将其引入局部滚动时域优化控制问题.进一步,应用平均停留时间概念和切换系统Lyapunov稳定性理论,建立通信拓扑切换下车辆队列闭环系统的内部稳定性和弦稳定性充分条件.最后通过两组典型交通场景的对比仿真验证本文策略的有效性.     

Group consensus control for heterogeneous multi-agent systems with fixed and switching topologies

In this paper, the group consensus problems of heterogeneous multi-agent systems with fixed and switching topologies are investigated. First, a class of distributed group consensus protocol is proposed for achieving the group consensus of heterogeneous multi-agent systems by using the neighbours’ information. Then, some corresponding sufficient conditions are obtained to guarantee the achievement of group consensus. Rigorous proofs are given by using graph theory, matrix theory and Lyapunov theory. Finally, numerical simulations are also given to verify the theoretical analysis.     

时延异构多自主体系统的群一致性分析

针对由一阶自主体和二阶自主体构成的异构多自主体系统的静态群一致性问题,分别提出了在固定连接拓扑和切换连接拓扑结构下的静态群一致性算法。通过构造Lyapunov-Krasovskii函数,得到了系统在具有相同时变通信时延的群一致性算法作用下渐近收敛群一致的充分条件,并以线性矩阵不等式表示。最后,仿真结果表明,所提算法在满足一定条件下能使时延异构多自主体系统渐近收敛群一致。     

Distributed consensus of heterogeneous multi-agent systems with fixed and switching topologies

In this article, we study distributed consensus of heterogeneous multi-agent systems with fixed and switching topologies. The analysis is based on graph theory and nonnegative matrix theory. We propose two kinds of consensus protocols based on the consensus protocol of first-order and second-order multi-agent systems. Some necessary and sufficient conditions that the heterogeneous multi-agent system solves the consensus problems under different consensus protocols are presented with fixed topology. We also give some sufficient conditions for consensus of the heterogeneous multi-agent system with switching topology. Simulation examples are provided to demonstrate the effectiveness of the theoretical results.     

Consensus problem of heterogeneous multi-agent systems with time delay under fixed and switching topologies

Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.     

Observer-based distributed coordinated tracking control for multiple simple-pendulum network systems with time-varying delays

For networked control systems consisting of multiple simple-pendulums driven by corresponding DC motors with time-varying communication and input delays, a distributed coordinated controller via observer-based output feedback is designed to solve the tracking problem under both fixed and jointly-connected switching topologies. Firstly, the linearized dynamic model for multiple nonlinear simple-pendulum network systems with DC motors is presented, and the distributed coordinated tracking problem considering time-varying input delays is mathematically described. Then the distributed observer-based tracking control protocol with time-varying communication and input delays is proposed, and simultaneously, both the observer gain and feedback gain are designed. Two examples are simulated to demonstrate consensus tracking for three types of states, i.e., swing angles, angular velocities of multiple simple-pendulums and armature currents of DC motors can be completed utilizing the developed coordinated tracking control with fixed and jointly connected topologies.     

Finite-time consensus for heterogeneous multi-agent systems with mixed-order agents

This paper studies the finite-time consensus for heterogeneous multi-agent systems composed of mixed-order agents over fixed and switching topologies. The control protocol of each agent using local information is designed and the detailed analysis of the finite-time consensus for fixed and switching interaction topologies is presented. The design of the finite-time consensus protocol is based on graph theory, matrix theory, and LaSalle’s invariance principle. Both theoretical studies and simulation results show the effectiveness of the proposed method and the correctness of the obtained theoretical results.     

具有时滞的混合阶多智能体系统的组一致性

针对由离散时间一阶和二阶智能体组成的混合阶多智能体系统,研究其在固定和切换拓扑结构下受通信时滞影响时的组一致性问题。分别为两类智能体提出组一致性协议,引入模型变换,将闭环系统转化为等价系统。在一定假设条件下,以代数图论、矩阵理论为主要研究工具,分别在固定和切换拓扑结构下给出了混合阶多智能体系统实现渐近组一致性的条件。采用数值仿真对所得结果的有效性进行了验证。     

Distributed finite-time consensus tracking for nonlinear multi-agent systems with a time-varying reference state

This paper investigates the consensus tracking problem for nonlinear multi-agent systems with a time-varying reference state. The consensus reference is taken as a virtual leader, whose output is only its position information that is available to only a subset of a group of followers. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position of its neighbours. In this paper, the consensus tracking problem is respectively considered under fixed and switching communication topologies. Some corresponding sufficient conditions are obtained to guarantee the states of followers can converge to the state of the virtual leader in finite time. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Simulations are presented to illustrate the theoretical analysis.     

Output Consensus of Heterogeneous Multi-agent Systems under Directed Topologies via Dynamic Feedback

This paper discusses the problem of dynamic output consensus for heterogeneous multi-agent systems (MAS) with fixed topologies. All the agents possess unique linear dynamics, and only the output information of each agent is delivered throughout the communication digraphs. A series of conditions and protocols are set for reaching the consensus. With the proper feedback controllers, the output consensus of the overall system is guaranteed. An application illustrates the theorems.