基于事件触发控制的多智能体系统的一致性
发布时间：2018-10-15 10:25
【摘要】：随着多智能体系统的一致性问题在传感器网络、编队控制、无人机、移动机器人的协调控制等领域得到广泛应用,其已成为控制学科的一个研究热点。在许多实际系统中,通信网络带宽和资源的有限性影响着系统一致性的实现。本文将引入事件触发策略,在减少通信资源和计算资源消耗的同时确保系统达到一致性。本文主要研究内容如下:(1)分析了自适应事件触发控制方案下多智能体的一致性。所提出的控制方案可以根据采样数据动态调整触发时间间隔,提高系统的控制性能,同时节省通信资源。通过Lyapunov稳定性理论,用线性矩阵不等式给出一致性的条件。(2)考虑两个具有相同拓扑结构的多智能体网络,其中一个为领导层,另一个为跟随层,用一种新的事件触发牵引控制方案来实现两个网络之间的一致性。只有部分跟随者可以与对应的领导者直接通信,且事件触发条件违反时更新牵引控制器。其次,把相应的理论结果推广到非线性系统。进一步,讨论了线性网络在事件触发牵引控制下的H∞一致性。(3)针对网络通信过程中信息需要量化的情况,分析了事件触发下二阶多智能体的量化一致性。基于事件触发控制策略,提出一致性协议,并采用对数量化器对控制输入进行量化处理。通过图论和Lyapunov稳定性理论,给出二阶系统量化一致性的条件。
[Abstract]:With the consistency of multi-agent systems widely used in sensor networks, formation control, UAV, mobile robot coordination control and other fields, it has become a research hotspot in the field of control. In many practical systems, the limitation of communication network bandwidth and resources affects the realization of system consistency. In this paper, the event triggering strategy is introduced to ensure the consistency of the system while reducing the consumption of communication resources and computing resources. The main contents of this paper are as follows: (1) the consistency of multi-agent under adaptive event trigger control scheme is analyzed. The proposed control scheme can dynamically adjust the trigger time interval according to the sampled data, improve the control performance of the system and save communication resources. By using Lyapunov stability theory, the conditions of consistency are given by using linear matrix inequalities. (2) two multi-agent networks with the same topology are considered, one of which is the leadership, the other is the following layer. A new event-triggered traction control scheme is proposed to achieve the consistency between the two networks. Only part of the follower can communicate directly with the corresponding leader and update the traction controller if the event trigger condition is violated. Secondly, the corresponding theoretical results are extended to nonlinear systems. Furthermore, the H 鈭，
本文编号：2272245
[Abstract]:With the consistency of multi-agent systems widely used in sensor networks, formation control, UAV, mobile robot coordination control and other fields, it has become a research hotspot in the field of control. In many practical systems, the limitation of communication network bandwidth and resources affects the realization of system consistency. In this paper, the event triggering strategy is introduced to ensure the consistency of the system while reducing the consumption of communication resources and computing resources. The main contents of this paper are as follows: (1) the consistency of multi-agent under adaptive event trigger control scheme is analyzed. The proposed control scheme can dynamically adjust the trigger time interval according to the sampled data, improve the control performance of the system and save communication resources. By using Lyapunov stability theory, the conditions of consistency are given by using linear matrix inequalities. (2) two multi-agent networks with the same topology are considered, one of which is the leadership, the other is the following layer. A new event-triggered traction control scheme is proposed to achieve the consistency between the two networks. Only part of the follower can communicate directly with the corresponding leader and update the traction controller if the event trigger condition is violated. Secondly, the corresponding theoretical results are extended to nonlinear systems. Furthermore, the H 鈭，
本文编号：2272245
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