正则/非正则最优控制方法在最优趋同控制的应用  

Optimal consensus control of multi-agent systems with regular/irregular optimal control method

作　　者：张焕水 徐娟娟[2] ZHANG Huan-shui;XU Juan-juan(College of Electrical Engineering andAutomation,ShandongUniversity of Science and Technology,Qingdao 266590,China;School of Control Science and Engineering,Shandong University,Jinan 250061,China)

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590 [2]山东大学控制科学与工程学院,济南250061

出　　处：《控制与决策》2023年第8期2203-2210,共8页Control and Decision

基　　金：国家自然科学基金项目(61821004,62250056);山东省自然科学基金项目(ZR2021ZD14,ZR2021JQ24);青岛西海岸新区科技项目(2019-32,2020-20,2020-1-4);青岛市西海岸新区高层次人才团队项目(RCTD-JC-2019-05);山东省重点研发计划项目(2020CXGC01208).

摘　　要：趋同控制已得到广泛研究并取得重要进展,但具有最优指标约束的趋同控制仍然面临挑战.基于此,研究多智能体系统最优趋同控制问题,基于正则/非正则最优控制方法提出新型分布式控制协议,使得半正定加权矩阵性能指标最小化的同时系统能够达到趋同.特别地,所设计的控制协议由两部分组成:一部分是个体状态的反馈,目的是最小化性能指标;另一部分是相邻个体之间相对状态的反馈,目的是保证趋同.The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years.In this paper,we study the consensus control of a multi-agent system associated with a given cost function.The main contribution is to present the distributed control protocol while minimizing the given cost function with positive semi-definite weighting matrix of control based on the regular/irregular optimal control.The derived controller is composed of two parts:One part is the feedback of the individual state which minimizes the cost function and the other part is the feedback of the relative states between the neighbours which guarantees the consensus.The presented results are novel to the best of our knowledge.

关 键 词：多智能体系统 最优 趋同 分布式协议 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]