切换通信拓扑下多智能体系统自适应跟踪控制  

Leader-following consensus control of multi-agent systems with switching topology:an adaptive approach

作　　者：王靖瑶 李依格 曾建平 WANG Jingyao;LI Yige;ZENG Jianping(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China)

机构地区：[1]厦门大学航空航天学院,福建厦门361102

出　　处：《厦门大学学报（自然科学版）》2023年第4期598-604,共7页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(61803319);福建省自然科学基金(2019J05021);厦门市重大科技项目(3502Z20201015)。

摘　　要：针对多智能体系统的跟踪控制问题,提出一种基于随机切换通信拓扑的多智能体系统自适应跟踪控制方法.假设智能体间的通信拓扑是随机切换的,并且切换过程由连续时间马尔科夫随机过程描述.本文给出了一种完全分布式的跟踪控制协议,该协议仅需要每个节点的局部信息来更新控制输入,使得跟随者仅使用局部信息即可在均方意义下跟踪领导者的状态,而无需使用任何全局信息.最后,通过实现编队控制任务证明了给出控制方法的有效性.In this paper,the stochastic leader-following consensus control problem is investigated for leader-following multi-agent systems with general linear dynamics.It is assumed that randomly switching,and the switching process the communication topology among agents is governed by a continuous-time Markov process.Then,a fully distributed consensus protocol is proposed to solve the consensus control problem,such that followers can track the leader in the mean square sense solely using the immediate local information of each node to update the control input without using any global information.Finally,a numerical simulation is conducted to demonstrate the effectiveness of the consensus algorithm by realizing a leader-follower formation task.

关 键 词：多智能体系统 马尔科夫随机切换拓扑 完全分布式一致性算法 编队控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]