多智能体系统分布式直接型无模型自适应PID控制  

Distributed direct model free adaptive PID control for multi-agent systems

作　　者：范方远 侯忠生 FAN Fang-yuan;HOU Zhong-sheng(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制与决策》2025年第4期1107-1115,共9页Control and Decision

基　　金：国家自然科学基金项目(62373206);青岛大学系统+重大项目(XT2024101)。

摘　　要：针对未知异构非线性多智能体系统一致性跟踪问题,设计基于控制器动态线性化的分布式直接型无模型自适应PID控制算法,仅使用被控系统的输入输出数据以及智能体间的拓扑结构关系进行控制器参数整定,不受被控系统数学模型的限制.首先利用动态线性化技术将受控系统以及理想控制器等效转换成相应的动态数据模型,基于理想控制器的动态数据模型设计控制器结构以及参数自适应更新算法;然后利用压缩映射以及盖尔圆盘定理进行误差收敛分析;最后进行大量仿真对比,验证所设计控制算法的有效性和优越性.A distributed direct model free adaptive PID control algorithm based on controller dynamic linearization is designed to address the unified tracking problem of unknown heterogeneous nonlinear multi-agent systems,the tuning of controller parameters is only based on the input and output data of the controlled system and the topology relationship between intelligent agents,and is not limited by the mathematical model of the controlled system.Firstly,the controlled system and ideal controller are equivalently transformed into corresponding dynamic data models using dynamic linearization technology.Based on the dynamic data model of the ideal controller,the controller structure and parameter adaptive update algorithm are proposed.Then,error convergence analysis is conducted using compressed mapping and the Gale disk theorem.Finally,a large number of simulation comparisons are conducted to verify the effectiveness and superiority of the designed control algorithm.

关 键 词：无模型自适应控制 数据驱动 PID 多智能体系统 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]