多智能体系统的分布式自触发一致性跟踪控制  

Distributed Self-triggered Consensus Tracking Control of Multi-agent Systems

作　　者：王梓懿 李琳[1] WANG Ziyi;LI Lin(College of Optoelectronic Information and Computer Engineering,Shanghai University of Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《信息与控制》2020年第3期351-355,364,共6页Information and Control

基　　金：国家自然科学基金资助项目(61673277)。

摘　　要：在一致性控制协议的设计过程中,针对多智能体之间信息交互数据量大的问题,结合自触发控制理论,为系统设计了一类具备触发判定条件的跟踪控制策略.该控制策略可以通过对触发时刻选择条件的约束,降低系统网络的通信负载,避免控制器的持续更新,节约交互信息的存储空间.并且,控制策略保证了跟随智能体渐近跟踪上领导智能体的状态,仿真实例证明了系统一致性可实现.To address the problem of large amounts of data exchanged between multi-agents in the process of designing the consensus protocol,we design a kind of tracking control strategy with trigger judgment conditions for the system combined with the self-triggering control theory.This strategy can reduce the communication load of the network by restricting the selection conditions of trigger time,thereby avoiding the continuous updating of the controller and saving the storage space of interactive information.Meanwhile,the control strategy guarantees that the followers asymptotically track the states of the leader.The simulation examples verify that consensus of the system can be achieved.

关 键 词：多智能体系统 领导—跟随 一致性 自触发控制 观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]