不确定通讯下的异构多智能体网络鲁棒编队控制  

Robust Formation Control of Heterogeneous Multi-agent Systems with Uncertain Communications

作　　者：刘淼[1] 李忠奎[1] LIU Miao;LI Zhongkui(State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Engineering Science,College of Engineering,Peking University,Beijing 100871,China.)

机构地区：[1]湍流与复杂系统国家重点实验室,北京大学

出　　处：《空间控制技术与应用》2018年第5期47-54,共8页Aerospace Control and Application

摘　　要：研究了不确定通讯网络下的异构多智能体系统的鲁棒编队控制问题，也就是要在智能体间信息交互过程中产生的传输误差和噪声情况下实现编队的控制目标.把网络中的信道构建成一个统一的附加一个确定或者随机不确定性的传递函数.对于确定和随机这两种情况，首先对每个智能体分别设计了分布式的补偿器并得出了实现补偿器内部状态达到编队控制的充分条件.随后，对每个智能体给出了一个基于观测器的控制律以实现智能体的状态跟踪到对应补偿器的状态，从而实现智能体状态的编队目标.最后，给出了一个仿真实例来验证的控制律的有效性.The robust formation control problem is studied for a set of heterogeneous linear agents to coordinate over an uncertain communication network,which is to achieve the formation target against the transmission errors and noises resulted from the information exchange between the agents.Each communication channel of the network is modeled as an ideal transmission system with the unitary transfer function perturbed by a deterministic or stochastic uncertainty.For these two cases,a dynamic compensator is proposed for each agent and the sufficient condition is derived to ensure that the states of compensators approach formation target.Then,an observer-based control protocol is given,under which it is shown that the state of each agent can follow the compensator’s and robust formation is achieved.Finally,a simulation example is provided to demonstrate the effectiveness of the proposed control law.

关 键 词：多智能体系统 编队控制 鲁棒性 不确定通讯 异构 动态补偿器 

分 类 号：V448[航空宇航科学与技术—飞行器设计]