具有时变参考输入的多自主体系统的平均一致性跟踪  

Average consensus tracking of multi-agent system with time-varying reference inputs

作　　者：张雨[1] 刘成林[1] ZHANG Yu;LIU Chenglin(Key Laboratory of Advanced Process Control for Light Industry,Ministry of Education(Jiangnan University),Wuxi Jiangsu 214122,China)

机构地区：[1]轻工过程先进控制教育部重点实验室(江南大学),江苏无锡214122

出　　处：《计算机应用》2022年第1期191-197,共7页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61973139,61473138);中央高校基本科研业务费专项(JUSRP22014)。

摘　　要：针对具有时变参考输入的多自主体系统的动态平均一致性跟踪问题,提出了一种比例-积分一致性跟踪算法。在对多自主体间通信数据进行量化的场景下,研究了基于量化的平均一致性跟踪问题。首先,在积分算法的基础上引入一个比例环节,使得自主体在控制协议的约束下通过和邻近自主体间相互交流来更好地跟踪参考输入的平均值;然后,在固定的强连通平衡拓扑结构下,利用矩阵分析和Routh判据分别得出自主体间信息传输数据未量化和量化时多自主体系统渐近跟踪到时变参考输入平均值的充分条件;最后,数值仿真证明了结果的准确性,也证实了所提算法的有效性。Aiming at the dynamic average consensus tracking problem of multi-agent systems with time-varying reference inputs,a proportional-integral consensus tracking algorithm was proposed.In the scenario of communication data between multi-agents being quantized,the average consensus tracking problem based on quantization was studied.Firstly,on the basis of the integral algorithm,a proportional link was introduced to make agents to track the average value of the reference inputs better by communicating with neighborhood agents under the constraints of the control agreement.Then,under the fixed,strongly connected and balanced topology structure,sufficient conditions for the multi-agent system asymptotically tracking to the average value of time-varying reference inputs without and with quantized information transmission data were obtained by using matrix analysis and Routh criteria respectively.Finally,numerical simulations verify the accuracy of the results and confirm the effectiveness of the proposed algorithm.

关 键 词：时变参考输入 多自主体系统 比例-积分算法 量化 强连通平衡拓扑 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]