| 多智能体系统的分布式预测控制器设计 |
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| 引用本文： | 王鹏,丁宝苍,韩崇昭.多智能体系统的分布式预测控制器设计[J].复杂系统与复杂性科学,2012(1):82-87. |
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| 作者姓名： | 王鹏 丁宝苍 韩崇昭 |
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| 作者单位： | 西安交通大学电信学院 |
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| 基金项目： | 国家自然科学基金(60934007,60921003,41074176);国家重点基础研究973项目(2007CB311006) |
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| 摘 要： | 针对多智能体系统的跟踪及编队控制问题,研究其分布式预测控制器的设计方法。考虑时变通讯拓扑情况,在优化问题中附加一项辅助约束,保证了优化问题的递归可行性及多智能体系统的闭环指数稳定性。在每个采样时刻,各智能体根据通讯拓扑实时更新其代价函数及辅助约束,通过求解带有状态、输入及辅助约束的优化问题来计算其控制输入。仿真结果验证了结论的有效性。
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| 关 键 词： | 分布式控制 预测控制 时变通讯拓扑 递归可行性 闭环稳定性 |
Distributed Model Predictive Controller Design for Multi-Agent Systems |
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| Authors: | WANG Peng DING Bao-cang HAN Chong-zhao |
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| Institution: | (The School of Electronic and Information Engineering,Xi’an Jiaotong University,Xi’an 710049,China) |
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| Abstract: | The distributed model predictive controller design for tracking and formation of multi-agent system is studied in this paper.Considering the time-varying communication topology,we present an auxiliary constraint in the optimization problem,which guarantees the recursive feasibility of the optimization and exponential stability of the overall closed-loop system.At each sampling time,each agent solves a constrained optimization problem,respecting input,state and auxiliary constraints to obtain its input.The effectiveness of our result is verified through an illustrative example. |
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| Keywords: | distributed control model predictive control(MPC) time-varying communication topology recursive feasibility closed-loop stability |
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