基于包含原理的多智能体一致性协调控制  

Coordinated control of the consensus of a multi-agent system based on the inclusion principle

作　　者：马晨[1] 陈雪波[1] 

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《智能系统学报》2014年第4期468-473,共6页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(60874017)

摘　　要：为了考虑在包含原理的概念下多智能体系统的运动一致性,利用包含原理对整体系统的重叠偏差模型进行扩展,对于扩展系统拓扑网络中每一对相邻的智能体,可以将其看作是整体系统重叠关系的一个基本单位。分别对这些智能体对进行一致性控制,再将每一组智能体对的控制率按循环逆序整合起来,并通过包含原理相关条件进行收缩,即可实现原系统的一致性协调控制。该方法可以有效地处理系统拓扑网络的变化,包括智能体数量的增减等情况。Within the concept of the inclusion principle , the motion consisteney of a multi-agent system is consid-ered .By using the system inclusion conditions , an overlapping deviation model of the overall system is expanded in-to a larger space such that each pair of the neighboring agents of the expanded system network topology can be trea -ted as a basic unit of the overall system overlapping , and those pair-wise agents can achieve their own consensus re-spectively .Then integrate all of the consensus control laws of the agent pairs into the recurrent reverse order , and contract it into the original space according to the relevant inclusion conditions .The locomotion consensus coordina-ted control of the multi-agent system is constructed in this way .This method may effectively deal with the changes in the topological network of the system , including specific circumstances including the quantity variation of the a-gents.

关 键 词：包含原理 对对分解 多智能体系统 运动一致性 复杂系统 协调控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]