上海交通大学学报

上海交通大学学报 >

2024 , Vol. 58 >Issue 11: 1805 - 1815

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2024.221

制导、导航与控制

切换拓扑下异构多智能体系统自适应输出一致性

  • 刘宇 ,
  • 文利燕 ,
  • 姜斌 ,
  • 马亚杰 ,
  • 崔玉康
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  • 南京航空航天大学 自动化学院,南京 210016
刘 宇(1999—),硕士生,从事多智能体自适应协同控制研究.
文利燕,副教授,博士生导师;E-mail:wenliyan8710@163.com.

收稿日期: 2024-06-13

  修回日期: 2024-07-02

  录用日期: 2024-07-15

  网络出版日期: 2024-07-25

基金资助

国家自然科学基金面上项目(62173179);江苏省前沿引领技术基础研究重大项目(SBK2022050029)

收起

Adaptive Output Consensus of Heterogeneous Multi-Agent System with Switching Topology

  • LIU Yu ,
  • WEN Liyan ,
  • JIANG Bin ,
  • MA Yajie ,
  • CUI Yukang
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  • College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received date: 2024-06-13

  Revised date: 2024-07-02

  Accepted date: 2024-07-15

  Online published: 2024-07-25

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摘要

针对通信拓扑突变的不确定异构多智能体系统,将拓扑突变等效为切换拓扑问题,进而设计一种基于领导者-模型-跟随者匹配的分布式自适应协同控制方法,实现领导者-跟随者输出一致性.首先,提出局部输出跟踪误差概念,将领导者-跟随者输出一致性问题转化为相邻智能体局部输出一致性问题;然后,针对系统参数已知的情况,进行分布式标称协同控制器设计,实现参考模型-领导者匹配和跟随者-参考模型匹配,以保证通信拓扑突变下领导者-跟随者输出一致性;进而,针对系统参数未知的情况,进行分布式自适应协同控制器设计,实现通信拓扑突变下跟随者输出对领导者输出的渐近跟踪.所设计的控制方法不依靠全局信息即可保证所有智能体系统闭环稳定及跟随者对领导者的输出一致性.最后,通过一个仿真案例验证了所设计的控制方案的有效性.

关键词： 异构多智能体系统; 输出一致性; 自适应控制; 切换拓扑

本文引用格式

刘宇 , 文利燕 , 姜斌 , 马亚杰 , 崔玉康 . 切换拓扑下异构多智能体系统自适应输出一致性[J]. 上海交通大学学报, 2024 , 58(11) : 1805 -1815 . DOI: 10.16183/j.cnki.jsjtu.2024.221

Abstract

In this paper, a leader-model-follower matching-based distributed adaptive cooperative control scheme is developed by equivalenting abrupt changing topology to switching topology problem for uncertain heterogeneous multi-agent systems with abrupt changing communication topology to realize leader-follower output consensus. First, local output tracking error is proposed to transform the leader-follower global output consensus problem into the neighboring agents local output consensus problem. Then, the distributed nominal cooperative control design is performed with known system parameters to realize reference model-leader matching and follower-reference model matching, to ensure the leader-follower output consensus with abrupt changing communication topology. Afterwards, the distributed adaptive cooperative controller is studied to realize the asymptotic output tracking of the follower to the leader with unknown parameters under the abrupt change of communication topology. The designed control strategy can ensure the closed loop stabilization of the global agents as well as the leader-follower output consensus with switching topology without relying on global information. Finally, the effectiveness of the designed control scheme is verified by simulation.

Key words： heterogeneous multi-agent systems; output consensus; adaptive control; switching topology

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