基于观测器的网络化多智能体预测控制  

Observer-based networked multi-agent predictive control

作　　者：庞中华[1] 骆文城 PANG Zhong-hua;LUO Wen-cheng(Key Laboratory of Fieldbus Technology and Automation of Beijing,North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学现场总线技术及自动化北京市重点实验室,北京100144

出　　处：《控制与决策》2021年第9期2290-2296,共7页Control and Decision

基　　金：国家自然科学基金项目(61673023,61773023);北京市委组织部青年拔尖人才项目;北京市自然科学基金项目(4182019);北京市教委基本科研业务费项目(110052971921/026);北方工业大学科技创新工程计划项目(110051360019XN115);北方工业大学学生科技活动项目(213051360019XN013);毓杰人才培养计划项目(107051360019XN133/001)。

摘　　要：针对一类主从式异构线性网络化多智能体系统,考虑每个智能体的反馈通道和前向通道中存在随机网络诱导时延和数据包丢失问题,采用预测控制方法,提出一种基于观测器的网络化多智能体协同输出跟踪控制方案.在该方案中,主智能体在每一时刻基于自身滞后输出和系统参考信号,计算一组控制预测序列和输出预测序列,前者用以主动补偿主智能体控制回路中的随机网络诱导时延和数据包丢失,后者被发往从智能体;从智能体在每一时刻基于主智能体发送过来的输出预测序列和自身滞后输出,计算一组控制预测序列,用以主动补偿从智能体控制回路中的随机网络诱导时延和数据包丢失;随后推导闭环网络化多智能体控制系统的稳定性,并通过实验验证该方案的有效性和可行性.For a class of leader-following heterogeneous linear networked multi-agent systems, random network-induced delays and packet dropouts in the feedback and forward channels of each agent are considered, and an observer-based networked multi-agent cooperative output tracking control scheme is proposed. In this scheme, the leader agent produces a control prediction sequence and an output prediction sequence based on its delayed output and the system reference signal at each time instant. The former is used to actively compensate for random network-induced delays and packet dropouts in the control loop of the leader agent, and the latter is sent to following agents. Each following agent generates a control prediction sequence at each time instant based on its delayed output and the output prediction sequence received,which is employed to actively compensate for random network-induced delays and packet dropouts in the control loop of the following agent. Then the stability of the closed-loop networked multi-agent control system is analyzed. Finally, the effectiveness and feasibility of the proposed scheme are verified by practical experiments.

关 键 词：网络化多智能体系统 预测控制 随机网络诱导时延 数据包丢失 状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]