一般线性定常多智能体系统的一致性协作跟踪最优化研究  

Research on Consistent Cooperative Tracking Optimization for General Linear Time-invariant Multi-agent Systems

作　　者：路月潭[1] LU Yue-tan(School of Mechanical and Electrical Engineering,Anhui Vocational and Technical College of Electronic Information,Bengbu Anhui 233000,China)

机构地区：[1]安徽电子信息职业技术学院机电工程学院,安徽蚌埠233000

出　　处：《长春工程学院学报（自然科学版）》2022年第3期94-99,共6页Journal of Changchun Institute of Technology：Natural Sciences Edition

基　　金：安徽省高等学校省级教学示范课《供配电技术》项目(2020SJJXSFK0227)。

摘　　要：为实现最优一致性和轨迹跟踪,在一种新的最优控制框架下,研究了具有单输入的一般线性时不变多智能体系统的一致性问题。利用改进的线性二次调节器(LQR)方法和逆最优控制公式设计了最优协同控制律。构建了3个成本函数,分别用于处理一致、控制努力和协作跟踪。这种方法可以实现3个不同的特性:导出最优反馈控制律的解析解;保证渐近稳定性和最优性;协作控制律是分布式的,只需要基于通信拓扑的局部信息,就可以使智能体达成一致,跟踪到预期轨迹。通过多卫星姿态同步的实例验证了该最优协同控制方法的性能。In order to achieve optimal consistency and trajectory tracking,a new optimal control framework is proposed for a general linear time-invariant multi-agent system with a single input.An optimal cooperative control law is designed by using an improved linear quadratic regulator(LQR)method and inverse optimal control formula.Three cost functions are constructed to deal with consistency,control effort,and collaboration tracking respectively.This method can achieve three different characteristics:To derive the analytic solution of optimal feedback control law.To ensure asymptotic stability and optimization.The cooperative control law is distributed,and only the local information based on the communication topology can make the agent reach agreement and track the expected trajectory.The performance of the optimal cooperative control method is verified by an example of multi-satellite attitude synchronization.

关 键 词：多智能体系统 协同控制 一致 最优化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]