Markov切换拓扑下非线性多智能体系统量化一致性控制
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O231.2

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国家自然科学基金项目(62263005);广西高校人工智能与信息处理重点实验室(河池学院)开放基金项目(2022GXZDSY004, 2024GXZDSY013);桂林电子科技大学研究生教育创新计划项目(2025YCXS138).


Quantized consensus control for nonlinear multi-agent systems under Markov switching topologies
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    摘要:

    针对受切换通信拓扑影响的非线性多智能体系统量化一致性问题, 提出一种学习型模型预测控制(LMPC)算法. 该算法利用神经网络实时逼近并优化LMPC代价函数, 在线预测最优控制增益矩阵, 有效减小通信缺陷对系统性能的影响. 同时, 结合迟滞量化器对控制输入进行量化, 缓解了网络资源受限对多智能体协同性能的限制. 为描述多智能体间的信息交换, 引入部分转移概率未知的Markov切换拓扑结构. 通过Lyapunov稳定性理论, 给出系统误差的指数一致性收敛. 最后, 通过非线性摆系统验证所提出方法的有效性和适用性.

    Abstract:

    For the quantized consensus problem of nonlinear multi-agent systems affected by switching communication topologies, a learning model predictive control (LMPC) algorithm is proposed. The algorithm approximates and optimizes the LMPC cost function in real time through neural networks, and predicts the optimal control gain matrix online to effectively reduce the impact of communication defects on the system performance. Meanwhile, a hysteresis quantizer is combined to quantize the control inputs, alleviating the limitations of network resource constraints on the performance of multi-agent collaboration. To delineate the information exchange among multi-agents, the Markov switching topology with unknown partial transition probability is introduced. The exponentially consistent convergence of the systematic error is given using the Lyapunov stability theory. Finally, the effectiveness and applicability of the proposed method are verified by the nonlinear pendulum system.

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卢毅,伍锡如,伍日立,等. Markov切换拓扑下非线性多智能体系统量化一致性控制[J].控制与决策,2025,40(10):2933-2942

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  • 收稿日期:2024-12-16
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  • 在线发布日期: 2025-09-09
  • 出版日期: 2025-10-20
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