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非线性输出网络下多智能体系统的一致性

Consensus for Multiagent Systems with Nonlinear Output Network

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摘要

多智能体系统的一致性问题是当前控制领域的一个研究热点并取得了丰富的研究成果。多数文献主要考虑了线性算法和智能体状态可测的情况, 而在某些实际应用中, 智能体的状态难以直接观测。研究了二阶多智能体系统在非线性输出网络下的一致性算法。对于状态量难以直接测量的多智能体系统, 分别设计了在有领导者和无领导者的情况下的非线性一致性算法, 并应用不变集定理证明多智能体系统的收敛性, 推导出了无领导者情况下系统的一致性收敛值。最后给出数值仿真验证了定理的有效性, 并针对不同情况进行了分析。

Abstract

Consensus problem for multiagent systems has become a hot topic in the control communityand many research achievements have been reported.Most of the literatures mainly consider the case of linear algorithms and measurable agent statesbut it is difficult to measure states of the agents directly in some real applications.Consensus problem for secondordermultiagent systems with nonlinear output network is studied in the paper.To the multiagent system difficult to measure directlya consensus protocol design method is proposed respectively for secondordermultiagent systems with a leader and without a leader.Consensus convergence is proved by using invariant set theoremand the decision value is derived for the case of multiagent system without a leader.Finallythe numerical simulations and analysis on different conditions are given to verify the effectiveness of theoretical results.

Newport宣传-MKS新实验室计划
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中图分类号:TP27

DOI:10.3969/j.issn.1671-637x.2016.08.006

所属栏目:学术研究

基金项目:基于群体智能的多无人机编队自主协调控制及验证(61333004); 总装重点实验室基金(9140c480102140c)

收稿日期:2015-07-27

修改稿日期:2015-08-24

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刘 爽:北京航空航天大学, 北京 100191
魏 晨:北京航空航天大学, 北京 100191
罗曼青:北京航空航天大学, 北京 100191

备注:刘 爽(1990 —), 女, 山西太原人, 硕士, 研究方向为多智能体一致性。

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引用该论文

LIU Shuang,WEI Chen,LUO Manqing. Consensus for Multiagent Systems with Nonlinear Output Network[J]. Electronics Optics & Control, 2016, 23(8): 23-27

刘 爽,魏 晨,罗曼青. 非线性输出网络下多智能体系统的一致性[J]. 电光与控制, 2016, 23(8): 23-27

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