异质多智能体系统的分散镇定  

Decentralized Stabilization of Heterogeneous Multi-Agent Systems

作　　者：熊晶晶 纪志坚[1,2] XIONG Jingjing;JI Zhijian(School of Automation,Qingdao University,Qingdao 266071;Shandong Key Laboratory of Industrial Control Technology,Qingdao 266071)

机构地区：[1]青岛大学自动化学院,青岛266071 [2]山东省工业控制技术重点实验室,青岛266071

出　　处：《系统科学与数学》2024年第11期3183-3199,共17页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(62373205,62033007);山东省泰山学者特聘教授人才支持计划(tstp20230624,ts20190930);山东省泰山学者攀登计划资助课题。

摘　　要：文章研究了符号有向图下,由一阶和二阶动力学智能体组成的异质多智能体系统的镇定性问题.利用Laplacian矩阵和图理论知识进行分析,分别针对一阶和二阶动态智能体设计相应的协议.基于文章提出的分层理论,通过对控制参数的设计,利用结构平衡的独立强连通分量(SBiSCC),给出了在通信拓扑下一阶-二阶异质系统实现镇定的充要条件.最后,文章给出了几个仿真验证理论结果.This paper studies the stabilization problem of heterogeneous multi-agent systems composed of the first-order and second-order dynamic agents in a signed directed graph.By utilizing the knowledge of Laplacian matrix and graph theory,corresponding protocols are designed for the second-order and first-order dynamic agents,respectively.Based on the layering theory proposed in this paper,independent strongly connected components(SBiSCC)of structural equilibrium are utilized to design control parameters.The necessary and sufficient conditions for achieving stabilization of the first-order and second-order heterogeneous systems in communication topology are given.Finally,the paper provides several simulation verification theoretical results.

关 键 词：符号有向图 多智能体系统 镇定性 异质系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]