一种初始值自由的固定时间分布式最优一致性算法  

An initialization-free distributed fixed-time algorithm for optimal consensus

作　　者：徐磊 时侠圣 XU Lei;SHI Xia-sheng(State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819,China;School of Artificial Intelligence,Anhui University,Hefei 230601,China)

机构地区：[1]东北大学流程工业综合自动化国家重点实验室,沈阳110819 [2]安徽大学人工智能学院,合肥230601

出　　处：《控制与决策》2025年第4期1377-1385,共9页Control and Decision

基　　金：国家自然科学基金项目(62403004)。

摘　　要：研究连续多智能体系统的分布式最优一致性问题,即通过智能体之间的信息交互协同寻找全局成本函数的最小点,其中全局成本函数由各智能体的局部成本函数求和得到.基于零梯度和方法与固定时间机制,提出一种新型分布式非线性一致性策略,实现智能体在固定时间的最优一致性.所提算法可利用滑模技术实现智能体初始状态自由.证明所提算法收敛上界是某正弦函数的零点,与初始状态无关.通过3组案例仿真验证所提计算法的有效性.This paper focuses on the problem of distributed optimal coordination/consensus over continuous-time multiagent systems,in which each agent communicates with other agents to cooperatively find the global minimum solution.The global objective is the sum of all local objective functions.To achieve this,based on the zero-gradient-sum technique and fixed-time control theory,an initialization-free distributed nonlinear consensus scheme is developed to achieve the fixed-time optimal consensus of all agents.In addition,the initial states are not desired to be the local optimal solution by using the sliding mode control technique.Furthermore,the determined upper bound of the convergence time is the zero-crossing point of a sine function,making it unrelated to the initial state information.This study provides three cases to illustrate the effectiveness of the developed scheme.

关 键 词：自适应控制 分布式最优一致 固定时间控制 正弦函数 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]