具有反馈控制的多自主体系统迭代学习输出一致性  

Iterative learning output consensus of multi-agent systems with feedback control

作　　者：王嘉欣 刘成林[1] WANG Jiaxin;LIU Chenglin(Key Laboratory of Advanced Process Control for Light Industry,Ministry of Education(Jiangnan University),Wuxi Jiangsu 214122,China)

机构地区：[1]轻工过程先进控制教育部重点实验室(江南大学),江苏无锡214122

出　　处：《计算机应用》2023年第8期2630-2635,共6页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61973139)。

摘　　要：为改进多自主体系统的学习过程并提高系统对外部干扰的鲁棒性,提出一种具有反馈控制的迭代学习一致性控制算法。首先,自主体之间通过共享控制输入信息以改进其学习过程,并且当系统外部存在非迭代重复干扰时,通过设计反馈控制器以提高系统的鲁棒性;然后,使用压缩映射的方法对系统一致性进行分析,并严格推导出算法的收敛条件;最后,通过仿真实验验证了算法的正确性和有效性,改进后的算法与P型算法相比有更高的收敛速度,且在存在外部干扰时有更平滑的收敛曲线。To improve the learning process of multi-agent system and the robustness of the system to external disturbances,an iterative learning consensus control algorithm with feedback control was proposed.Firstly,the learning process of agents was improved by sharing the control input information among agents,and the robustness of the system was improved by designing a feedback controller when there were non-iterative repetitive disturbances outside the system.Then,by using the contraction mapping method,the system consensus was analyzed,and the convergence condition of the algorithm was derived strictly.Finally,the correctness and effectiveness of the algorithm was verified through simulations.Compared with the P-type algorithm,the improved algorithm has higher convergence speed and smoother convergence curve in the presence of external disturbances.

关 键 词：迭代学习 多自主体系统 输出一致性 反馈控制 加权平均值 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]