具有弱通讯的多智能体分布式自适应协同跟踪控制

针对具有弱通讯的高阶严反馈非线性多智能体系统,提出一种新颖的分布式自适应反演控制方法,并研究了该系统的协同跟踪控制问题。首先,以5个智能体作为被控对象,其中一个智能体以分布式结构组成“领航者-跟随者”编队模式,并且将领航者的运动速度作为整个编队系统的前行速度,其余智能体作为跟随者跟随领航者编队运动。其次,采用自适应反演方法,对系统中由于弱通讯导致的不确定参数进行自适应估计,并对系统设计补偿追踪控制律,使系统中的智能体能够实现自主跟踪时变的参考轨迹,最终以最优的轨迹避开障碍物,并保持期望队形运动。接着,根据Lyapunov稳定性理论,证明了所提方法的有效性。最后,通过仿真对比表明,所提方法能够使多智能体系统的横向、纵向跟踪误差以及参考轨迹的相对误差均实现快速收敛,并在跟踪过程中保持该系统渐近稳定。     

复杂网络特性与多智能体的一致性

对复杂网络特性与多智能体系统的一致性的关系进行研究,以BBV和BA网络模型为例,分别研究了度正相关性和度负相关性的网络模型中多智能体系统一致性的收敛速度.应用计算机仿真实例,分析了无尺度网络模型的平均距离和平均集群系数与多智能体系统一致性的影响,得到了复杂网络结构与多智能体系统一致收敛速度的关系.该研究对于构建一个多智...     

非线性多智能体系统分布式鲁棒输出调节

为解决具有一般非线性形式和不确定参数的多智能体系统的协调控制问题,设计了非线性分布式反馈控制器,使得多智能体系统鲁棒渐近跟踪参考信号或者鲁棒渐近抑制干扰。在所考虑的多智能体系统中,将动态领导者或者环境干扰看作是产生参考信号或者干扰信号的外部系统。最后,给出一个仿真算例,验证所得结果的有效性。     

流程工业多智能体系统协调控制

以典型的流程工业过程为对象,结合分布式工业过程控制的特点,分析了多智能体应用于复杂工业过程控制的可行性、必要性;提出了一种基于工业过程控制的多智能体系统的体系结构及其协调控制过程.板带热连轧机过程控制是典型的分布式过程控制对象,文章从综合控制的角度出发提出热连轧机工业生产过程多智能体系统的体系结构,给出了体系结构中各功能模块的组成及其处理过程,并重点分析了轧钢过程中精轧机组中板形和板厚控制的协调过程.     

时滞多智能体系统关于参考状态的信息一致性

研究了具有参考状态的有向通信时延多智能体系统的信息一致性问题.提出了适用于可连续通信并有通信时延的有向多智能体系统关于参考状态的一致性算法,严格推导了多智能体系统在该算法作用下达到信息一致性的充分性判据,最后以水下无人航行器协同作战为背景,仿真验证了所提出的一致性算法和判据的有效性.     

非线性多智能体网络的分布式包容控制

针对具有本质非线性动态的多智能体网络,研究分布式包容控制问题.假设只有部分个体已知领航者信息,依据相对位置和速度信息设计分布式控制律.基于代数图论、矩阵理论和Lyapunov稳定性分析方法,得出非线性网络实现渐近包容控制的充分条件.当跟随者之间有向强连通且每个跟随者都至少存在一个领航者与其通信,可选取合适的控制增益使得跟随者渐近收敛到由多个领航者所围成的静态凸包中.仿真实例验证了理论分析的正确性和有效性.     

间歇通信条件下多无人机保性能编队追踪控制

针对多无人机系统在通信链路非周期性中断情况下的优化编队控制问题, 提出了一种多无人机保性能编队追踪控制方法。首先, 引入一种分布式性能指标, 用于描述多无人机系统编队调节性能。然后, 设计了间歇型多无人机编队追踪控制器, 可在通信时段根据无人机间局部交互信息构建分布式反馈控制, 并在中断时段中止对无人机的编队追踪控制, 以应对间歇通信的影响。同时, 获得了间歇通信条件下多无人机保性能编队追踪控制判据, 确定了多无人机系统的保性能上界。最后, 通过仿真算例验证了理论结果的有效性。     

RoboCupRescue Agent仿真中的多智能体协作方法

对RoboCupRescue智能体仿真系统内的多智能体协作问题进行了研究和分析,提出一种由多种评价模型和协作方式组成的协作方法,并从同类和异类智能体两个方面给出了具体的实现.该实现主要采用了人工免疫控制、静态分配与动态调整结合以及基于共识的分布式控制等方式.在仿真测试中,各类智能体通过相互协作有效完成了灾难环境中的救援任务.     

机器人焊接柔性制造系统的多智能体协调控制

提出了利用分布式的多智能体协调控制技术实现对焊接柔性制造系统进行控制的思想。通过对集成多机器人和多传感器的焊接柔性制造系统进行焊接生产任务执行过程的分析,提出了针对焊接柔性制造系统的多智能体控制系统结构。最后利用JADE多智能体系统开发平台建立了一个多智能体控制系统,并通过实验验证了该系统的有效性及合理性。     

二阶多智能体系统的一致性分析

研究了二阶连续多智能体系统的一致性问题,其中每个智能体能够实时获得自己的速度信息,但是只能在一些离散时刻上获得自己和邻居的相对位置信息。在给定的控制输入下,建立了一致性成立的充要条件,并将该理论结果应用到多机器人编队控制问题中。提供的数值仿真进一步验证了理论结果的有效性。     

Homogeneous Finite-Time Consensus Control for Higher-Order Multi-Agent Systems by Full Order Sliding Mode

This paper investigates the distributed finite-time consensus tracking problem for higher-order nonlinear multi-agent systems (MAS_s). The distributed finite-time consensus protocol is based on full order sliding surface and super twisting algorithm. The nominal consensus control for the MASs is designed based on the geometric homogeneous finite time control technique. The chattering is avoided by designing a full order sliding surface. The switching control is constructed by integrating super twisting algorithm, hence a chattering alleviation protocol is obtained to maintain a smooth control input. The finite time convergence analysis for the leader follower network is presented by using strict Lyapunov function. Finally, the numerical simulations validate the proposed homogeneous full-order sliding mode control for higher-order MAS_s.     

Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

A time-variant consensus tracking control problem for networked planar multi-agent systems with non-holonomic constraints is investigated in this paper. In the time-variant consensus tracking problem, a leader agent is expected to track a desired reference input, simultaneously, follower agents are expected to maintain a time-variant formation. To solve the time-variant consensus tracking problem of planar multi-agent systems with non-holonomic constraints, a time-variant consensus tracking control strategy is designed on the basis of an unidirectional topology structure. One of main contributions of this paper is the time-variant consensus tracking protocol for general time-variant formations of planar multi-agent systems with non-holonomic constraints, the other main contribution of this paper is an active predictive control strategy, where predictions of agents are generated actively, so that the computational efficiency is improved than passive approaches. The proposed control strategy is verified by two types of time-varying formations of wheeled mobile robots, and the experimental results show that the proposed control strategy is effective for general time-variant consensus tracking problems of planar multi-agent systems with non-holonomic constraints in local and worldwide networked environments.     

Uncoupled PID Control of Coupled Multi-Agent Nonlinear Uncertain systems

In this paper, PID (proportional-integral-derivative) controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.     

Output consensus for heterogeneous nonlinear multi-agent systems based on T-S fuzzy model

In this paper, the output consensus problem of general heterogeneous nonlinear multi-agent systems subject to different disturbances is considered. A kind of Takagi-Sukeno fuzzy modeling method is used to describe the nonlinear agents’ dynamics. Based on the model, a distributed fuzzy observer and controller are designed based on parallel distributed compensation scheme and internal reference models such that the heterogeneous nonlinear multi-agent systems can achieve output consensus. Then a necessary and sufficient condition is presented for the output consensus problem. And it is shown that the consensus trajectory of the global fuzzy model is determined by the network topology and the initial states of the internal reference models. Finally, some simulations are given to illustrate and verify the effectiveness of the proposed scheme.     

多智能体系统的有限时间跟踪控制

基于领导-跟随者模型研究了多智能体系统的有限时间跟踪控制问题。针对领导者状态是时变的情况,提出了一类非线性有限时间跟踪控制算法,在固定网络拓扑结构下,利用Lyapunov有限时间稳定性理论和矩阵理论分析,得到了该算法使得系统中跟随者状态在有限时间内与领导者状态达到一致的充分条件;在切换网络拓扑结构下,提出了一类有限时间跟踪控制算法,在领导者的状态是时不变的情况下,给出了该算法使得系统实现有限时间跟踪控制的充分条件。仿真实例验证了所提出两类算法的有效性。     

Coordination Control for a Class of Multi-Agent Systems Under Asynchronous Switching

This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode's switching for each agent. So the matched controller is interrupted by the delayed switching. For the situation, the authors give some new results by applying the conventional distributed control protocol. The authors show that all agents can achieve consensus. Secondly, the authors show that all followers can track the actual leader. Thirdly, the authors show that all followers will converge to the convex hull spanned by the dynamic leaders as time goes on. Numerical simulations are also provided and the results show highly consistent with the theoretical results.     

Event-Triggered Consensus for Discrete-Time Multi-agent Systems with Parameter Uncertainties Based on a Predictive Control Scheme

In this paper, the event-triggered consensus for linear discrete-time multi-agent systems with parameter uncertainties is investigated. The parameter uncertainty is assumed to be normbounded. An event-triggered consensus protocol based on the predictive control method is proposed to make the multi-agent system achieve consensus. And for the design of the consensus protocol, the problem of estimating the control input is transformed into the problem of estimating state differences between agents. Furthermore, the event-triggered consensus protocol proposed in this paper only demands each agent to mornitor its state to determine its event-triggered instants. A sufficient existence condition for the consensus protocol is proposed based on the linear matrix inequality. And a sufficient condition for the nonexistence of the Zeno-like behaviour is also derived. Finally, a numerical example is given to illustrate that the event-triggered consensus protocol proposed in this paper can make the multi-agent system with parameter uncertainties achieve consensus effectively.     

Adaptive Event-Triggering Consensus for Multi-Agent Systems with Linear Time-Varying Dynamics

In this paper, the authors study the fully distributed event-triggering consensus problem for multi-agent systems with linear time-varying dynamics, where each agent is described by a linear time-varying system. An adaptive event-triggering protocol is proposed for time-varying multi-agent systems under directed graph. Based on the Gramian matrix of linear time-varying systems, the design of control gain is done and sufficient conditions ensuring the consensus of linear time-varying multi-agent systems are obtained. It is shown that the coupling strength is closely related to the triggering condition. When it comes to undirected graph, it is shown that the coupling strength is independent on the triggering condition and thus the design procedure is of more freedom than the directed case. In addition, it is also proved that Zeno behaviours can be excluded in the proposed protocols. A numerical example is presented to demonstrate the effectiveness of the theoretical results.

     

Bipartite Consensus of Linear Multi-Agent Systems by Distributed Event-Triggered Control

For multi-agent systems with competitive and collaborative relationships, signed graph can more intuitively express the characteristics of their interactive networks. In this paper, the bipartite consensus is investigated for multi-agent systems with structurally balanced signed graph. In order to reduce actuation burden in dynamical network environment, the event-triggering strategy is applied to bipartite consensus protocol for the multi-agent systems. The triggered condition for each agent is designed by using its own information and transmitted information of its neighbors at sampling instant and make the number of triggers of the whole systems be reduced. Based on the distributed eventtriggered control, some sufficient conditions are derived to guarantee the leaderless and leader-following bipartite consensus. Finally, some numerical examples are shown to demonstrate the effectiveness of the theoretical results.