通信路径损耗下多智能体系统固定时间防碰防离编队控制  

Fixed-time Formation Control of Multi-agent Systems With Collision and Isolation Avoidance Under Communication Path Loss

作　　者：杨海骄 刘安 何舒平[1,2,3] YANG Hai-Jiao;LIU An;HE Shu-Ping(School of Electrical Engineering and Automation,Anhui University,Hefei 230601;Information Materials and Intelligent Sensing Laboratory of Anhui Province,Hefei 230601;Key Laboratory of Intelligent Computing and Signal Processing,Ministry of Education,Hefei 230601)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601 [2]信息材料与智能感知安徽省实验室,合肥230601 [3]计算智能与信号处理教育部重点实验室,合肥230601

出　　处：《自动化学报》2025年第3期643-657,共15页Acta Automatica Sinica

基　　金：国家自然科学基金(62203009,62473003);安徽省重点研发计划(2022i01020013);安徽省高校协同创新计划(GXXT-2021-010);安徽省自然科学基金(2108085QF275)资助。

摘　　要：针对多智能体系统中邻居间通信存在通信路径损耗的情况,研究距离-变权重通信拓扑下非线性多智能体系统固定时间防碰防离编队控制问题,充分考虑通信路径损耗所引起的拓扑变化的不确定性和距离相关性、系统中未知非线性动力学特性以及固定时间收敛的控制性能要求等.为解决以上问题,首先结合通信理论中的通信损耗模型和数学图论知识,对通信路径损耗下的拓扑结构进行量化建模.其次,基于人工势场原理,设计一套新的预设时间防碰防离策略,以确保每个智能体在预设时间内离开碰撞与离群预警区,避免碰撞与离群现象.同时,提出一种新的具有自适应增益的分层滑模面结构,进一步改善系统的动态性能.在此基础上,结合自适应技术,构建一套自适应分层滑模固定时间防碰防离编队控制方案.所提方案不仅解决了系统本身以及通信路径损耗所引起的非线性动态耦合问题,而且保证了通信路径损耗情况下多智能体系统的编队任务在固定时间内完成,同时没有碰撞和离群现象.最后,给出严格的理论分析以及对比仿真结果,证明了所提控制方法的有效性和优越性.Addressing the issue of communication path loss in multi-agent systems where neighbors communicate,this paper investigates the fixed-time formation control problem of nonlinear multi-agent systems with collision and isolation avoidance under distance-based weight-varying communication topology,where we synthetically consider the uncertainties and distance-related aspects of topology changes caused by communication path loss,the unknown nonlinear dynamic characteristics within the system,and the control performance requirements for fixed-time convergence.To tackle these issues,firstly,a quantified modeling of the topology structure under communication path loss is conducted by integrating communication loss models from communication theory and knowledge from mathematical graph theory.Secondly,based on the principle of artificial potential fields,a novel prescribed-time collision and isolation avoidance strategy is designed to ensure that each agent leaves the collision and deviation warning area within a preset time,avoiding collisions and deviations.Concurrently,a new hierarchical sliding mode surface structure with adaptive gains is proposed to further enhance the system's dynamic performance.Building upon this,an adaptive hierarchical sliding mode fixed-time formation control scheme with collision and isolation avoidance is constructed by incorporating adaptive technique.The proposed scheme not only resolves the nonlinear dynamic coupling issues arising from the system itself and communication path loss but also ensures that the formation task of the multi-agent systems is completed within a fixed time under communication path loss conditions,with no collisions or deviations.Finally,rigorous theoretical analysis and comparative simulation results are provided to demonstrate the effectiveness and superiority of the proposed control method.

关 键 词：多智能体系统 通信路径损耗 预设时间防碰防离 分层滑模控制 固定时间编队控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]