输入时滞多智能体系统的输入受限一致性控制  

Consensus control for input-delay multi-agent system with input constraint

作　　者：刘伟民[1,2] 王永越 马欣阳 刘金琨 LIU Weimin;WANG Yongyue;MA Xinyang;LIU Jinkun(North Automatic Control Technology Institute,Taiyuan 030006,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北方自动控制技术研究所,山西太原030006 [2]北京理工大学自动化学院,北京100081 [3]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《系统工程与电子技术》2024年第9期3176-3184,共9页Systems Engineering and Electronics

基　　金：国家自然科学基金(62273020)资助课题。

摘　　要：针对具有输入幅值约束的输入时滞机械系统,研究基于有向图拓扑的多智能体系统(multi-agent system,MAS)的一致性控制问题。对于只有部分智能体能够接收到理想信号的情况,提出一种观测器,使每个智能体都能观测到理想信号,并证明观测误差的指数收敛性。在控制器设计中,通过将系统的输入积分反馈到控制器中,消除输入延迟的影响;结合输入积分法和双曲正切函数,在解决输入延迟问题的同时限制控制输入幅值,并利用FMINCON函数优化控制参数。最后,利用李雅普诺夫方法证明控制目标的实现和闭环系统的渐近稳定性。仿真结果表明,所提出的观测器和控制器能够有效实现系统的一致性控制。For input-delayed mechanical system with input amplitude constraints,the consensus control problem of multi-agent system(MAS)based on directed graph topology is studied.For scenarios where only some agents can receive the desired signal,an observer is proposed to enable each agent to observe the desired signal,with exponential convergence of the observation error being proven.In the controller design,the system’s input integral is fed back to the controller to eliminate the effects of input delay.By combining the input integral method with the hyperbolic tangent function,the input amplitude is limited while addressing the input delay issue.The FMINCON function is used to optimize the control parameters.Finally,the Lyapunov method is utilized to prove the achievement of control objectives and the asymptotic stability of the closed-loop system.Simulation results demonstrate the effectiveness of the proposed observer and controller in achieving system consensus control.

关 键 词：多智能体系统 有向图 输入受限 输入延迟 一致性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]