计算机应用 ›› 2014, Vol. 34 ›› Issue (6): 1653-1656.DOI: 10.11772/j.issn.1001-9081.2014.06.1653

• 人工智能 • 上一篇    下一篇

切换通信拓扑下线性多智能体系统的鲁棒协同输出跟踪控制

孙玮   

  1. 西南财经大学 信息与教育技术中心,成都 611130
  • 收稿日期:2013-12-03 修回日期:2014-01-30 出版日期:2014-06-01 发布日期:2014-07-02
  • 通讯作者: 孙玮
  • 作者简介:孙玮(1983-),女,重庆人,工程师,硕士,主要研究方向:网络信息系统

Robust Cooperative Output Tracking of Linear Multi-Agent Systems under Switching Communication Topology

SUN Wei   

  1. Information Education Technology Center, Southwestern University of Finance and Ecomomics, Chengdu Sichuan 611130,China
  • Received:2013-12-03 Revised:2014-01-30 Online:2014-06-01 Published:2014-07-02
  • Contact: SUN Wei

摘要:

针对存在外界扰动一类线性多智能体系统,设计了一种鲁棒的分布式输出跟踪控制器。该算法适用于智能体之间的通信拓扑有向且可能时变(切换)的情况。控制器结构包括两部分:第一部分可以保证跟踪误差在理想情况下(不存在外界干扰的情况)一致指数收敛;另一部分用来抵消或减弱实际存在的外界干扰效应。数学上证明了该控制器可以完全抑制常值干扰的影响,即在存在常值干扰的情况下,跟踪误差依然渐近收敛到零;而对于其他类型的导数有界干扰,通过选择设计参数可以保证跟踪误差的最终界可以任意小。最后,通过一个数值仿真实例,验证了这两方面的结论。

Abstract:

A robust distributed output tracking controller was proposed for a class of linear multi-Agent system subject to external disturbances. This controller was applied to the case where the communication topology among the Agents was direct and possibly time-varying (i.e. switching). This controller is composed of two parts: the first part could ensure the tracking error uniformly exponentially converges to zero in the ideal case (without external disturbances), while the other part was used to compensate for the effect of the present disturbances. It is shown that the effect of constant disturbances can be completely attenuated by the proposed controller, that is, the tracking error converges asymptotically to zero even in the presence of constant disturbances; while for other type of disturbances with bounded derivatives, the ultimate bound of tracking error can be made arbitrarily small by choosing appropriate design parameters. Finally, the two-fold theoretical results were verified by a simulation example.

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