具有时变参考输入的多自主体系统的平均一致性跟踪

doi:10.11772/j.issn.1001-9081.2021010197

《计算机应用》唯一官方网站 ›› 2022, Vol. 42 ›› Issue (1): 191-197.DOI: 10.11772/j.issn.1001-9081.2021010197

• 先进计算 • 上一篇

具有时变参考输入的多自主体系统的平均一致性跟踪

张雨, 刘成林()

轻工过程先进控制教育部重点实验室（江南大学），江苏无锡 214122

收稿日期:2021-02-03 修回日期:2021-05-20 接受日期:2021-05-28 发布日期:2022-01-11 出版日期:2022-01-10
通讯作者: 刘成林
作者简介:张雨（1992—），男，湖北天门人，硕士，主要研究方向：多自主体系统平均一致性滤波
刘成林（1981—），男，江苏宿迁人，教授，博士，主要研究方向：多自主体系统协调控制、非线性控制。
基金资助:
国家自然科学基金资助项目(61973139);中央高校基本科研业务费专项(JUSRP22014)

Average consensus tracking of multi-agent system with time-varying reference inputs

Yu ZHANG, Chenglin LIU()

Key Laboratory of Advanced Process Control for Light Industry，Ministry of Education（Jiangnan University），Wuxi Jiangsu 214122，China

Received:2021-02-03 Revised:2021-05-20 Accepted:2021-05-28 Online:2022-01-11 Published:2022-01-10
Contact: Chenglin LIU
About author:ZHANG Yu， born in 1992， M. S. His research interests include average-consensus filter of multi-agent system.
LIU Chenglin， born in 1981， Ph. D.， professor. His research interests include coordinated control of multi-agent system， nonlinear control.
Supported by:
National Natural Science Foundation of China(61973139);Fundamental Research Funds for Central Universities(JUSRP22014)

摘要/Abstract

摘要：

针对具有时变参考输入的多自主体系统的动态平均一致性跟踪问题，提出了一种比例-积分一致性跟踪算法。在对多自主体间通信数据进行量化的场景下，研究了基于量化的平均一致性跟踪问题。首先，在积分算法的基础上引入一个比例环节，使得自主体在控制协议的约束下通过和邻近自主体间相互交流来更好地跟踪参考输入的平均值；然后，在固定的强连通平衡拓扑结构下，利用矩阵分析和Routh判据分别得出自主体间信息传输数据未量化和量化时多自主体系统渐近跟踪到时变参考输入平均值的充分条件；最后，数值仿真证明了结果的准确性，也证实了所提算法的有效性。

关键词: 时变参考输入, 多自主体系统, 比例-积分算法, 量化, 强连通平衡拓扑

Abstract:

Aiming at the dynamic average consensus tracking problem of multi-agent systems with time-varying reference inputs， a proportional-integral consensus tracking algorithm was proposed. In the scenario of communication data between multi-agents being quantized， the average consensus tracking problem based on quantization was studied. Firstly， on the basis of the integral algorithm， a proportional link was introduced to make agents to track the average value of the reference inputs better by communicating with neighborhood agents under the constraints of the control agreement. Then， under the fixed， strongly connected and balanced topology structure， sufficient conditions for the multi-agent system asymptotically tracking to the average value of time-varying reference inputs without and with quantized information transmission data were obtained by using matrix analysis and Routh criteria respectively. Finally， numerical simulations verify the accuracy of the results and confirm the effectiveness of the proposed algorithm.

Key words: time-varying reference input, multi-agent system, proportional-integral algorithm, quantization, strongly connected and balanced topology

中图分类号:

TP273

张雨, 刘成林. 具有时变参考输入的多自主体系统的平均一致性跟踪[J]. 计算机应用, 2022, 42(1): 191-197.

Yu ZHANG, Chenglin LIU. Average consensus tracking of multi-agent system with time-varying reference inputs[J]. Journal of Computer Applications, 2022, 42(1): 191-197.

图/表 7

图1 四个自主体的连接拓扑G?

Fig. 1 Interconnection topology G? of four agents

图2 φ=0.2?s时无量化的自主体状态轨迹

Fig. 2 State trajectories of agents without quantization when φ=0.2?s

图3 φ=0.2?s时无量化的自主体状态误差

Fig. 3 State errors of agents without quantization when φ=0.2?s

图4 φ=0.424?s时无量化的自主体状态误差

Fig. 4 State errors of agents without quantization when φ=0.424?s

图5 φ=0.2?s时量化的自主体状态轨迹

Fig. 5 State trajectories of agents with quantization when φ=0.2?s

图6 φ=0.2?s时量化的自主体状态误差

Fig. 6 State errors of agents with quantization when φ=0.2?s

图7 φ=0.424?s时量化的自主体状态误差

Fig. 7 State errors of agents with quantization when φ=0.424?s

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具有时变参考输入的多自主体系统的平均一致性跟踪

Average consensus tracking of multi-agent system with time-varying reference inputs

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