多智能体系统非脆弱一致性控制  

Non-fragile consensus control of multi-agent systems

作　　者：刘伟 李大卫 戴洪德 王瑞 郑百东 LIU Wei;LI Dawei;DAI Hongde;WANG Rui;ZHENG Baidong(School of Aviation Foundation,Naval Aviation University,Yantai 264000,China;School of Aviation Operations and Support,Naval Aviation University,Yantai 264000,China)

机构地区：[1]海军航空大学航空基础学院,山东烟台264000 [2]海军航空大学作战勤务学院,山东烟台264000

出　　处：《传感器与微系统》2023年第8期99-102,共4页Transducer and Microsystem Technologies

摘　　要：针对目前研究的多智能体系统一致性问题,其控制器均为理想情况,很少考虑控制器摄动问题,提出了非脆弱一致性控制器设计方法。并将智能体之间的通信拓扑假设为更加符合实际情况的一般有向拓扑,且各智能体控制器包含了不同的不确定性。通过适当的变量变换,将一致性问题转化为具有较低维度的系统稳定性问题;然后,基于Lyapunov稳定性分析和代数图论推导了系统达成一致的充分条件,给出了控制器增益矩阵设计方法。仿真结果表明:所设计的控制器可以实现多智能体系统的一致性控制。Aiming at the consensus problem of multi-agent systems studied at present,the controllers are mostly ideal,and the controller perturbation problem is not considered,a non-fragile consensus controller design method is proposed,and the communication topology between agents is assumed to be a general directed topology that is more in line with the actual situation.The controllers of each agent contain different uncertainties.By performing appropriate variable transformations,the consensus problem is transformed into a stability problem with lower dimensions.Based on the Lyapunov stability analysis and algebraic graph theory,sufficient conditions for the system to achieve consensus are given.The design method of the controller gain matrix is presented.The simulation results show that the designed controller can realize the consensus control of the multi-agent systems.

关 键 词：一致性 控制器摄动 多智能体系统 有向拓扑 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]