带输出死区的多智能体系统预设时间事件触发式协同控制  

Prescribed setting time event-triggered synergetic control of multiagent systems with output dead-zone

作　　者：王建晖[1] 邹涛 张春良[1] 穆朝絮 刘治[3] WANG Jian-hui;ZOU Tao;ZHANG Chun-liang;MU Zhao-xu;LIU Zhi(College of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China;College of Electrical Automation and Information Engineering,Tianjin University,Tianjin 300072,China;College of Automation,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广州大学机械与电气工程学院,广州510006 [2]天津大学电气自动化与信息工程学院,天津300072 [3]广东工业大学自动化学院,广州510006

出　　处：《控制与决策》2023年第2期441-449,共9页Control and Decision

基　　金：国家自然科学基金项目(51775122,51505092);广东省教育厅创新人才项目(2018KQNCX197);广东省教育厅创新强校项目(2020KTSCX097);广东省自然科学基金项目(2019A1515110995);广州市科技计划项目(202002030286);广州大学校内项目(YG2020009)。

摘　　要：针对带有输出死区的多智能体系统的一致性控制问题,提出一种可预设时间的事件触发式协同控制方法.输出死区现象普遍存在于实际系统,对控制回路中负反馈调节影响较大,会导致系统控制性能的下降.为此,通过结合Nussbaum函数对输出死区特性进行补偿,以削弱其对系统性能的影响,但上述问题解决的同时也会加剧对系统控制传输资源的占用.由于多智能体系统依靠智能体之间频繁的信息交互实现控制目标,自身传输资源有限.考虑到实际系统的限制,利用事件触发控制策略节省系统的控制传输资源.更进一步,为有效提高系统性能,使系统能够快速达到稳定,引入一类转换函数进行系统变换,实现系统同步误差在预设时间内收敛于紧集的目标.理论分析和仿真结果验证了所提出方法的有效性.Aiming at the problem of consensus control of multi-agent systems with dead-zone outputs, this paper proposes a prescribed settling time event-triggered consensus control method. The dead-zone output phenomenon is common in actual systems. Its negative feedback adjustment has a great influence on the control loop, which will lead to the decline of the system control performance. For this reason, the dead-zone output characteristic is compensated by combining the Nussbaum function to weaken its impact on system performance. However, solving the above problems will also increase the occupation of system control transmission resources. Since the multi-agent system relies on frequent information interaction between agents to achieve control goals, its own transmission resources are limited. Taking into account the limitations of the actual system, the event-triggered control strategy is applied to economize system control transmission resources. Furthermore, to effectively improve the performance of the system and enable the system to quickly reach stability, a type of conversion function is introduced to perform system transformation, which achieves the goal of system synchronization error converging to a compact set within prescribed settling time. Theoretical analysis and simulation results verify the effectiveness of the proposed method.

关 键 词：多智能体系统 输出死区 NUSSBAUM函数 预设时间 事件触发 协同控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]