基于分布式PI的2阶时延多智能体系统一致性控制

王琦; 郭飞; 张安通; 郭煜; 强以铭

doi:10.11993/j.issn.2096-3920.202109002

基于分布式PI的2阶时延多智能体系统一致性控制

doi: 10.11993/j.issn.2096-3920.202109002

王琦^{1, 2,},
郭飞³,
张安通^{1, 2},
郭煜^{1, 2},
强以铭^{1, 2}

1.
中国船舶科学研究中心, 江苏无锡, 214082
2.
深海技术科学太湖实验室, 江苏无锡, 214082
3.
上海机电工程研究所, 上海, 201109

详细信息

作者简介:
王琦：王琦(1995-), 女, 硕士, 助理工程师, 主要研究方向为多无人艇集群控制

中图分类号: TJ630.33; U674.941
计量
- 文章访问数: 116
- HTML全文浏览量: 33
- PDF下载量: 16
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-03
- 修回日期: 2021-11-07
- 录用日期: 2022-07-25
- 网络出版日期: 2022-09-06

Control of the Consensus of Second-Order Multi-Agent Systems with Time Delay Based on Distributed PI

WANG Qi^{1, 2
,},
GUO Fei³,
ZHANG An-tong^{1, 2},
GUO Yu^{1, 2},
QIANG Yi-ming^{1, 2}

1.
China Ship Scientific Research Center, Wuxi 214082, China
2.
Taihu Laboratory of Deepsea Technological Science, Wuxi 214082, China
3.
Shanghai Electro-Mechanical Engineering Institute, Shanghai 201109, China

摘要

摘要: 近年来, 多智能体系统由于其在多个领域的广泛应用得到快速发展, 其中, 一致性问题一直是其研究热点之一。通信时延和外部扰动的存在会给多智能体系统的一致性带来影响, 鉴于此, 文中主要研究了2阶含扰动多智能体系统的一致性问题, 同时考虑了常数通信时延和时变通信延迟的影响, 提出了一种基于分布式比例积分(PI)的控制协议。该协议假设该多智能体系统的通信拓扑结构是有向图且含有一个有向生成树。首先, 通过状态转换将原系统的一致性问题转换成降阶系统的稳定性问题; 然后, 根据李雅普诺夫稳定性理论、图论和矩阵论的知识得到系统实现渐近稳定的充分条件; 最后, 通过具体的数值仿真实例验证了所提出的PI控制协议能够有效实现2阶含扰动多智能体系统的一致性。
- 多智能体系统 /
- 分布式控制 /
- 时延 /
- 一致性
Abstract: In recent years, multi-agent systems have developed rapidly owing to their wide application in many fields. The consensus problem is a popular research topic. However, the existence of communication delays and external disturbances can affect the consensus of multiagent systems. Therefore, this study focused on the problem of the consensus of second-order multi-agent systems with disturbances. The influences of constant and time-varying communication delays are also considered. A control protocol based on a distributed proportional integral(PI) is provided. The protocol assumes that the topology of the multiagent system is directed and contains a directed spanning tree. First, the consensus problem of the original system is transformed into a problem concerning the stability of the reduced-order system by state transformation. Then, the sufficient condition is derived using Lyapunov stability theory, graph theory, and matrix theory. Finally, a specific numerical simulation example is provided to verify that the proposed PI control protocol can effectively achieve the consensus of a second-order multiagent system with disturbance.
- multi-agent systems /
- distributed control /
- time delay /
- consensus

HTML全文

图 1 多智能体系统通信拓扑结构图

Figure 1. The communication topology graph of the multi-agent system

下载: 全尺寸图片幻灯片

图 2 多智能体系统状态曲线

Figure 2. Curves of state of the multi-agent systems

下载: 全尺寸图片幻灯片

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