异维异质非线性多智能体系统的一致性自适应控制器设计  

A Consistency Adaptive Controller for a Class of Nonlinear Multi-agent System with Heterogeneity in Different Dimensions

作　　者：秦波 朱旭 范永青 高扬[2] QIN Bo;ZHU Xu;FAN Yongqing;GAO Yang(School of Automation,Xi’an University of Posts and Telecommunications,Xi’an Shaanxi 710121,China;Beijing Aerospace Institute for Metrology and Measurement Technology,Beijing 100076,China)

机构地区：[1]西安邮电大学自动化学院,陕西西安710121 [2]北京航天计量测试技术研究所,北京100076

出　　处：《指挥与控制学报》2023年第5期556-565,共10页Journal of Command and Control

基　　金：国家自然科学基金(62003262,51875457,61903298);陕西省自然科学基金(2022JM-389,2019JQ-341);陕西省重点研发计划项目(2019GY-061)资助。

摘　　要：针对一类带有不同维数的异质非线性多智能体系统的一致性问题,提出一种带有相似参量的分布式径向基神经网络自适应控制器设计方案.提出异维异质多智能体系统的概念,在此基础上提出各智能体之间存在的相似性质与相似参量,然后结合径向基神经网络的万能逼近性质,通过对各智能体之间的耦合权重自适应律的设计,给出一种新型分布式反馈自适应神经网络控制器设计方案.该方法可以保证异维异质非线性多智能体系统的状态实现一致性,且闭环系统中的所有信号满足一致终极有界的条件.控制设计方法突破了传统异质多智能体中的各子系统具有相同维数的限制,该控制器设计方法不仅适用于相同维数的异质多智能体系统,也可应用于异质多智能体的维数不同的情形.两个仿真算例验证了控制器设计方法的有效性.A design scheme of a distributed radial basis for neural network(RBFNN)adaptive controller with similar parameters is proposed for a class of consitency problem of nonlinear multi-agent system with heterogeneity in different dimensions.The definition of nonlinear multi-agent system with heterogeneity in different dimensions is addressed,on this basis,the similar properties and the similar parameters existing in each agent are presented,the universal approximation properties of RBFNN is combined,a scheme of a novel distributed feedback adaptive neural network controller is devised based on the design of some adaptive laws of coupling weights among each agent.The design method can guaranteem all the states of nonlinear multi-agent system with heterogeneity in different dimensions are consistent,and make all signals in the closed-loop systems to be meet with the conditions of uniformly ultimately bounded(UUB).The design of the control approach can breaks the limition of the same dimension of each subsystem in the traditionally heterogeneous multi-agent,the design method of controller is not only suitable for to a kind of heterogeneous multi-agent systems with same dimension,but also be applicable in heterogeneous multi-agent with different dimensions.Finally,two simulation examples are utilized to verify the effectiveness of the proposed design method of the controller.

关 键 词：径向基函数神经网络 分布式控制 异质多智能系统 一致终极有界 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]