多智能体系统离散时间一致性问题中的参数设计  

Parameters design for consensus in multi-agent systems with second-order discrete-time dynamics

作　　者：何吕龙 柏鹏[2] 梁晓龙[3] 张佳强[3] 王维佳 HE Lyu-long;BAI Peng;LIANG Xiao-long;ZHANG Jia-qiang;WANG Wei-jia(Equipment Management and Safety Engineering College,Air Force Engineering University,Xi＇an 710051,China;Equipment Development and Application Research Center,Air Force Engineering University,Xi＇an 710051,China;Air Traffic Control and Navigation College,Air Force Engineering University,Xi＇an 710051,China)

机构地区：[1]空军工程大学装备管理与安全工程学院,西安710051 [2]空军工程大学装备发展与运用研究中心,西安710051 [3]空军工程大学空管领航学院,西安710051

出　　处：《控制与决策》2018年第8期1455-1460,共6页Control and Decision

基　　金：国家自然科学基金项目(61472442;61472443);陕西省自然科学基础研究计划项目(2013JQ8042)

摘　　要：研究二阶多智能体系统在固定、有向通信拓扑条件下的离散时间一致性问题.针对每个智能体,采用基于速度、位置的分布式控制协议,分析速度、位置增益系数以及采样周期等参数对系统一致性的影响.结果表明,要实现二阶多智能体系统的一致性控制,在保持个体之间通信拓扑有生成树的同时,控制协议中的各个参数还必须满足一定的约束条件.系统拉普拉斯矩阵的特征值和采样周期对系统能否实现渐近一致起到了关键的作用.最后,给出一致性控制中参数设计的一种可行方法,并通过仿真对理论分析的正确性进行验证.The consensus problem for double-integrator dynamics under fixed and directed interaction in a discrete-time setting is studied. A distributed control protocol based on velocity and position is designed for each agent, and the impact of velocity and position gains and sampling period on consensus is analyzed. Results show that consensus of the secondorder multi-agent system can be achieved if and only if the topology graph has a directed spanning tree and the values of the gain parameters meet some constraints. Both eigenvalues of the corresponding Laplacian matrix and sampling period play a key role in reaching asymptotical consensus. A general parameter design method for consensus problem is proposed. Finally, numerical simulations are given to illustrate the effectiveness and feasibility of the theoretical results.

关 键 词：多智能体系统 一致性 分布式控制 参数设计 通信拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]