饱和约束脉冲控制下多智能体系统一致性研究
公安县公共检验检测中心, 湖北荆州 434000
| 摘 要： | 本文主要分析和研究了通信约束下非线性时滞多智能体系统的脉冲一致性问题。首先，考虑到执行器的固有属性——每个智能体通信信道都是有限的，因此在控制协议的设计中考虑了全局输入饱和约束的情况，引入了饱和约束上下界阈值为±1 的一般情况。其次，由于现实通信环境的复杂性，智能体在通信过程中往往很难保证实时的、连续的通信，故本文主要考虑采用不连续控制中的脉冲控制方法。此外，当智能体的通信环境复杂时，时滞同样也是很常见的现象，所以带有时滞的非线性系统在本文中被研究。通过李雅普诺夫理论、凸包理论等理论方法，针对上述饱和约束情况，给出了保证多智能体系统领导-跟随一致性的充分条件。最后，通过仿真实例验证了所提方法的正确性和有效性。 |
| 关 键 词： | 饱和约束; 脉冲一致性; 多智能体系统; 时滞 |
| DOI： | 10.57237/j.cst.2023.01.003 |
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收稿日期: 2022-09-29
接受日期: 2023-02-09
在线出版日期: 2023-02-16
Research on Consensus of Multi-agent System Under Saturation Constrained Impulse Control
Gong'an County Public Inspection and Testing Center, Jingzhou 434000, China
| Abstract: | This paper mainly analyzes and studies the impulse consensus of nonlinear time-delay multi-agent systems under communication constraints. Firstly, considering the inherent attribute of the actuator -- each agent communication channel is finite, the control protocol design considers the global input saturation constraint and introduces the general case that the upper and lower bounds of saturation constraint are ±1. Secondly, due to the complexity of the real communication environment, it is often difficult for the agent to ensure real-time and continuous communication in the communication process, so this paper mainly considers the impulse control method in the discontinuous control. In addition, when the communication environment of the agent is complex, time delay is also a common phenomenon, so the nonlinear system with time delay is studied in this paper. Based on Lyapunov theory, convex hull theory and other theoretical methods, the sufficient conditions to ensure the lead-following consensus of multi-agent systems are given in view of the above saturated constraints. Finally, the correctness and effectiveness of the proposed method are verified by a simulation example. |
| Keywords: | Saturation-constraint; Impulse Control; Multi-agent System; Time-Delay |
基金
| 1. | 国家自然科学基金青年基金 (62003008) |
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