间歇通信的非线性多智能体系统协调跟踪控制  

Coordinated Tracking Control of Nonlinear Multi-Agent Systems with Intermittent Communications

作　　者：张瑀航 姜玉莲 崔立朝 王海伟 ZHANG Yu-hang;JIANG Yu-lian;CUI Li-chao;WANG Hai-wei(School of Electrical and Electronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《计算机技术与发展》2022年第3期180-185,共6页Computer Technology and Development

基　　金：国家自然科学基金项目(61503045);吉林省重点科技项目(20200401075GX)。

摘　　要：针对间歇通信环境下具有有向通信拓扑结构的非线性领导-跟随多智能体系统,设计一种切换的分布式协调跟踪控制器。与连续时间通信的跟踪控制器相比,间歇通信方式下的分布式协调跟踪控制器在实际应用中更为实用可靠,且能够通过间歇通信下的信息交互,有效降低非线性多智能体系统的能量损耗。首先考虑间歇通信和非线性动态同时存在的情况,通过Lipschitz条件处理非线性多智能体系统中的非线性项,再利用Lyapunov稳定性理论、切换系统理论和LMI技术获得间歇通信的多智能体系统达到一致性跟踪的充分条件,并给出分布式协调跟踪控制协议的多步骤设计算法;然后,通过多步骤算法设计协调跟踪控制器增益和耦合增益并给出间歇通信速率的阈值。最后,通过对直流电机驱动的多单摆网络系统进行仿真实验验证该方法的正确性和有效性。A type of switched and distributed coordinated tracking controller is designed for the nonlinear leader-following multi-agent systems under a directed communication topology with intermittent communications.Compared with the tracking controller of continuous-communication,the distributed coordinated tracking controller of intermittent communication mode is more practical and reliable in practical application,and can effectively reduce the energy consumption of nonlinear multi-agent systems through the information interaction of intermittent communication.Firstly,considering the simultaneous existence of intermittent communications and nonlinear dynamics,Lipschitz condition is used to deal with nonlinear term in nonlinear multi-agent systems,the switching system theory and the LMI technique are used to obtain sufficient conditions for the multi-agent systems to achieve consensus tracking control,and the multi-step design algorithm of distributed coordinated tracking control protocol is given.Then,the coordinated tracking controller gain and coupling gain matrices are designed and the threshold of the communication rate is proposed.Finally,the correctness and effectiveness of the proposed method are verified by simulation experiments of DC motor driven multi-pendulum systems.

关 键 词：多智能体系统 一致性 间歇通信 非线性 切换系统理论 LMI技术 通信速率 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]