通信受限的网络化多智能体系统编队控制  

FORMATION CONTROL OF NETWORKED MULTI-AGENT SYSTEM WITH COMMUNICATION CONSTRAINS

作　　者：宋娜[1] 洪小敏 周川[1] 

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《动力学与控制学报》2017年第2期163-171,共9页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(61074023);江苏省大学生科研创新训练项目资助~~

摘　　要：主要研究了具有通信受限及不确定性的无线网络下的二阶多智能体系统的编队控制问题.针对无线网络的介质访问约束,采用二进制序列设计智能体节点调度协议,使得满足约束条件的智能体节点经网络传输其采样信息;另一方面,为建立更符合实际的通信信道模型,区别于传统的固定连接权重拓扑图,考虑到无线网络的不确定性及拓扑连接权重与智能体节点之间距离的关系,利用无线信道的度量指标构建了多智能体通信拓扑的新模型.定义信息更新误差及编队误差,将二阶多智能体系统模型转化为闭环延时系统模型.然后,构造Lyapunov-Krasovskii函数并利用LMI方法设计了编队控制协议.最后,通过仿真验证了所提方法的有效性.The formation control of second-order multi-agent system under wireless network with communication constrains and uncertainty is investigated in this paper. The binary sequence is used to design the agent scheduling protocol for the media access constrains in wireless network, where only the sampling information of the a- gents which satisfies the constraints is allowed to transmit through network. On the other hand, in order to build more realistic communication channel model, the wireless network metric is used to construct a new topology model rather than the traditional fixed interaction weights, which considers the uncertainties of wireless network and also the relationship between interaction weights and the distances among agents. Furthermore, the second- order multi-agent system model is transformed into close-loop system model with time-delay by defining informa- tion updating error and formation error. The formation control scheme is then designed by constructing Lyapunov- Krasovski function and taking advantage of LMI techniques. Finally, a simulation example illustrates the effectiveness of the proposed method.

关 键 词：多智能体系统 编队控制 无线网络 通信受限 不确定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]