输入与速度饱和的异构多智能体系统的一致性

doi:10.11772/j.issn.1001-9081.2018020293

计算机应用 ›› 2018, Vol. 38 ›› Issue (8): 2431-2436.DOI: 10.11772/j.issn.1001-9081.2018020293

• 应用前沿、交叉与综合 • 上一篇下一篇

输入与速度饱和的异构多智能体系统的一致性

刘辰辰¹, 尹燕燕^1,2, 刘飞¹

1. 江南大学自动化研究所, 江苏无锡 214122;
2. 科廷大学工程学院, 澳大利亚西澳大利亚州珀斯市 WA6845

收稿日期:2018-02-01 修回日期:2018-03-02 出版日期:2018-08-10 发布日期:2018-08-11
通讯作者: 尹燕燕
作者简介:刘辰辰(1992-),男,山东临沂人,硕士研究生,主要研究方向:多智能体系统;尹燕燕(1983-),女,江苏无锡人,副教授,博士,主要研究方向:随机系统控制与优化、多智能体系统;刘飞(1965-),男,江苏无锡人,教授,博士,主要研究方向:先进控制、工业系统监控与诊断、间歇过程智能装备与系统。
基金资助:
国家自然科学基金资助项目（61773011）；高等学校学科创新引智计划项目（B12018）。

Consensus of heterogeneous multi-agent systems with input and velocity saturation

LIU Chenchen¹, YIN Yanyan^1,2, LIU Fei¹

1. Institute of Automation, Jiangnan University, Wuxi Jiangsu 214122, China;
2. School of Engineering, Curtin University, GPO Box U1987, Perth WA6845, Australia

Received:2018-02-01 Revised:2018-03-02 Online:2018-08-10 Published:2018-08-11
Supported by:
This work is partially supported by the National Natural Science Foundation of China (61773011), the Program of Introducing Talents of Discipline to Universities (B12018).

摘要/Abstract

摘要： 针对由一阶与二阶智能体构成的异构多智能体系统具有输入和速度饱和特性，系统无法达到一致性的问题，构建了无领航者和有领航者的异构多智能体分布式控制器，并给出了系统达到一致性的充分条件。通过Lyapunov稳定性理论和Lasalle不变集原理推导出了系统稳定性的充分条件，并以此计算出了通信增益的取值范围。对具有输入和速度饱和特性的无领航者异构多智能体系统进行数值仿真，结果显示，当选取的通信增益不在合适的范围内时，无领航者的异构多智能体系统无法实现一致性；而通过提出的增益选取方法选取通信增益时，异构多智能体系统可以克服输入和速度的饱和特性，进而实现异构多智能体系统的半全局一致性。对具有输入和速度饱和特性的领航跟随异构多智能体系统进行数值仿真的结果则证明了通信增益的计算方法也适用于异构多智能体系统的半全局领航跟随一致性控制。

关键词: 多智能体系统, 异构, 输入饱和, 速度饱和, 半全局一致性

Abstract: Since the heterogeneous multi-agent systems composed of first-order and second-order agents have input and velocity saturation characteristics, the systems cannot achieve consensus. A leaderless distributed controller and a leader-following distributed controller of the heterogeneous multi-agent systems were constructed, and the sufficient conditions ensuring the successful consensus were given. The range of communication gain was calculated by using Lyapunov stability theory and Lasalle invariant set principle. The result of numerical simulation of leaderless heterogeneous multi-agent systems with input and velocity saturation characteristics shows that when the communication gain is not in a proper range, consensus of the leaderless heterogeneous multi-agent systems can not be achieved. However, when the proposed gain selection method is used to select the communication gain, the heterogeneous multi-agent systems can overcome input and velocity saturation characteristics, then consensus of the leaderless heterogeneous multi-agent systems can be achieved. The result of numerical simulation of leader following heterogeneous multi-agent systems with input and velocity saturation characteristics proves that the calculation method of the communication gain is also applicable to the semi-global leader-following consensus control of the heterogeneous multi-agent systems.

Key words: Multi-Agent System (MAS), heterogeneousity, input saturation, velocity saturation, semi-global consensus

刘辰辰, 尹燕燕, 刘飞. 输入与速度饱和的异构多智能体系统的一致性[J]. 计算机应用, 2018, 38(8): 2431-2436.

LIU Chenchen, YIN Yanyan, LIU Fei. Consensus of heterogeneous multi-agent systems with input and velocity saturation[J]. Journal of Computer Applications, 2018, 38(8): 2431-2436.

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输入与速度饱和的异构多智能体系统的一致性

Consensus of heterogeneous multi-agent systems with input and velocity saturation

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