复杂通信约束下网络化多智能体系统的时变编队控制  

Time-varying formation control of networked multi-agent systems withcomplex communication constraints

作　　者：郑长兵 庞中华[2] 董燕飞 司文杰 ZHENG Chang-bing;PANG Zhong-hua;DONG Yan-fei;SI Wen-jie(School of Electrical and Control Engineering,Henan University of Urban Construction,Pingdingshan 467000,China;School of Electrical and Control Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]河南城建学院电气与控制工程学院,河南平顶山467000 [2]北方工业大学电气与控制工程学院,北京100144

出　　处：《控制与决策》2024年第10期3513-3520,共8页Control and Decision

基　　金：国家自然科学基金项目(62173002,62303251);北京市自然科学基金项目(4222045);河南省高等学校重点科研项目(24A120001);河南省科技攻关计划项目(232102320053)。

摘　　要：针对二阶网络化多智能体系统中前向通道、反馈通道和智能体之间通道同时存在通信约束(网络诱导时延和丢包)问题,提出一种基于网络化预测控制方法和时滞系统方法的新型解决方案.首先,基于智能体自身滞后的位置和速度信息,通过迭代预测得到智能体当前时刻的位置和速度预测值;然后,考虑到智能体之间通道的通信约束,设计基于邻居智能体滞后信息的时变编队控制协议;进而,推导出包含前向通道和智能体之间通道通信约束的闭环时滞系统,并利用李雅普诺夫方法给出闭环系统稳定的充分条件;最后,通过对比仿真验证所提出方法的有效性,以及网络化预测控制方法在主动补偿通信约束方面的优势.For the communication constraints(i.e.,network-induced delay and packet loss)of the forward channel,the feedback channel and the channel between agents of second-order networked multi-agent systems,a novel solution is proposed,which is based on the networked predictive control method and the time-delay system method.First,with the delayed informations in terms of position and velocity,the predicted position and velocity of the current moment is obtained by iterative prediction.Consider the time delay between agents,a time-varying formation control protocol based on the delayed informations of neighbours is designed.Furthermore,a closed-loop system including the delay of the forward channel and the delay between the agent is derived,and the sufficient conditions for the stability of the closed-loop system are given using the Lyapunov method.Finally,the contrastive simulation results verify the feasibility of the proposed method as well as the advantages of networked predictive control in compensating communication constraints.

关 键 词：网络化多智能体系统 通信约束 网络化预测控制 时滞系统 时变编队 李雅普诺夫方法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]