饱和约束下事件触发多智能体系统量化通信环形编队控制  

Event-triggered circle formation control of quantitative communication in multi-agent system with input saturation constraints

作　　者：张海江 文家燕[1] 谢广明 景永年[3] ZHANG Haijiang;WEN Jiayan;XIE Guangming;JING Yongnian(School of Automation,Liuzhou 545616,China;College of Engineering,Peking University,Beijing 100871,China;Black Sesame Technologies Company Limited,Shenzhen 518055,China)

机构地区：[1]广西科技大学自动化学院,广西柳州545616 [2]北京大学工学院,北京100871 [3]黑芝麻智能科技有限公司,广东深圳518005

出　　处：《广西科技大学学报》2022年第4期44-50,69,共8页Journal of Guangxi University of Science and Technology

基　　金：国家自然科学基金项目(61963006);广西自然科学基金项目(2018GXNSFAA050029,2018GXNSFAA294085)资助。

摘　　要：针对一阶带有输入限制的多智能体系统环形编队信息交互过程中存在通信带宽限制及需节约有限资源消耗的问题,引入了量化通信机制和事件触发控制策略,设计了一种基于编码-解码器的量化器以及适用于环形编队的事件触发条件,理论上严格证明了系统在所设计控制律作用下可实现期望环形编队,达到了在系统输入饱和耦合带宽有限双约束条件下降低控制器更新频率的目的,有效减少了系统资源消耗。最后,通过数值仿真验证了所提出控制算法的可行性和有效性。A quantization communication mechanism and event-triggered control strategy were introduced, and a quantizer based on codec and event-triggered conditions were designed to solve the problems of communication bandwidth limitation and resource consumption in the information interaction of circle formation in first-order multi-agent system with input saturation. It is, theoretically,proved that the system can realize the desired circle formation under the action of the designed control law, which can reduce the updating frequency of the controller under the dual constraints of the system input and bandwidth, and effectively reduce the system resource consumption. Finally, the feasibility and effectiveness of the control algorithm are verified by numerical simulation.

关 键 词：多智能体系统 环形编队 事件触发 量化器 量化通信 输入饱和 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]