基于预测补偿的时延多自主体系统的一致性跟踪控制  

Consensus tracking control for multi-agent system with output delay based on predictive compensation

作　　者：戴欣 刘成林[1] 刘飞[1] DAI Xin;LIU Chenglin;LIU Fei(School of lnternet of Things Engineering,Jiangnan University,Wuxi Jiangsu 214122,China)

机构地区：[1]江南大学物联网工程学院,江苏无锡214122

出　　处：《计算机应用》2018年第A01期53-57,共5页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61473138);江苏省自然科学基金资助项目(BK20151130)

摘　　要：针对具有不同输出时延且状态不可测的一般多自主体系统(MAS)的一致性问题,提出基于预测补偿方法的一致性协议。首先,利用可获得的输入输出信息,构造时延状态观测器,基于观测器的预测值和输出偏差来设计一致性协议;然后,基于状态增量和观测误差,将输出一致性问题转化为闭环系统的渐近稳定性问题;最后,通过极点配置调节控制器增益,使闭环系统的所有特征值位于单位圆内,得到了和时延无关的一致性收敛充要条件。仿真结果表明,在引入预测补偿的一致性协议控制下,对称和非对称多自主体系统能实现对参考信号的精确跟踪,跟踪误差在0. 1%以下,验证了定理的正确性。Aiming at the consensus problem for general Multi-Agent System （MAS） with different output delay and unknown state, a consensus protocol based on predictive compensation method was proposed. By using available input and output information to construct delay-state observers, the consensus protocol consisted of observers＇ predictive values and output biases. According to state increments and errors between the state observers and actual systems, the consensus problem could be translated into the asymptotic stability problem of the closed-loop system. Finally, by adjusting the controller gains to make all eigenvalues of the closed-loop system be within a unit circle, the sufficient and necessary condition could be obtained, which was delay-independent. Numerical simulations show that symmetric and asymmetric systems are respectively able to track the reference signals accurately, and the tracking errors are less than 0.1%, which vertifies the correctness of the theorems.

关 键 词：多自主体系统 输出时延 状态观测器 预测控制 一致性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]