信道衰落下多智能体系统有限时间一致性控制  

Finite-Time Consensus Control for Multi-Agent Systems under Channel Fading

作　　者：丁勐 陈蓓 DING Meng;CHEN Bei(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《电子科技》2024年第3期44-50,共7页Electronic Science and Technology

基　　金：国家自然科学基金(62173222,61803255)。

摘　　要：针对带有信道衰落下二阶多智能体系统的有限时间一致性跟踪问题,文中提出了基于滑模策略的分布式控制算法。根据智能体的拓扑结构搭建数学模型构造了随机信道衰落影响下的一致性误差函数,基于误差函数设计一致性协议将系统的一致性问题转化为跟踪误差系统的稳定性问题。设计了指数型非奇异终端滑模面,结合Lyapunov稳定性理论和滑模控制理论分析了误差系统的有限时间稳定性和滑模可达性。采用1个领导者和4个跟随者的多智能体模型进行仿真实验,结果显示4个跟随者可以准确跟踪领导者,达成系统跟踪一致性,且在10 s时其误差函数曲线也趋于0,证明了控制策略的有效性。In view of the finite time consistency tracking problem for second-order multi-agent systems with channel fading,a distributed control algorithm based on sliding mode strategy is proposed in this study.According to the topology structure of the agent,a mathematical model is built to construct the consistency error function under the influence of random channel fading.The consistency protocol based on error function is designed to transform the consistency problem into the stability problem of tracking error system.In this study,an exponential non-singular terminal sliding mode surface is designed,and the finite-time stability and sliding mode accessibility of the error system are analyzed by combining Lyapunov stability theory and sliding mode control theory.A multi-agent model with one leader and four followers is used to conduct simulation experiments.The results show that four followers can accurately track the leader and achieve the tracking consistency of the system,and the error function curve tends to 0 at 10s,which proves the effectiveness of the control strategy.

关 键 词：多智能体系统 有向拓扑 有限时间 信道衰落 滑模控制 分布式控制器 一致性 稳定性分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]