混合调度协议下多智能体系统一致性滑模控制
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上海工程技术大学 电子电气工程学院,上海 201620

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E-mail: chenbei1631@163.com.

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TP273

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国家自然科学基金项目(62173222,61803255).


Sliding mode consensus control for multi-agent systems under hybrid scheduling protocol
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School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China

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    摘要:

    研究一类通信信道受限下“领导者-跟随者”结构的多智能体系统一致性跟踪问题.为了提升智能体的通信效率和降低能耗,引入事件触发机制与轮询协议相结合的混合调度策略,调节相邻智能体之间的信息传输,提高信道利用率.考虑到系统存在匹配的输入扰动,构建基于信道调度令牌的分布式滑模控制策略及协同设计方法,控制器仅依赖触发时刻的采样状态分量而不是实时状态信息,从而有效降低控制能耗,缓解数据冲突.所提出的协同控制策略不依赖于任何全局网络信息,因此,该控制策略的有效性不受网络规模的影响.通过Lyapunov稳定性理论,给出了系统一致性误差的跟踪分析来保证领导跟随一致性.同时,通过求解所提出的优化问题得到了调度协议参数和控制器增益.仿真实例验证了所提出协同控制策略的有效性.

    Abstract:

    In this study, the consensus tracking problem for leader-follower multi-agent systems(MASs) under communication channel constraints is investigated. To improve the communication efficiency and reduce the energy consumption of MASs, a hybrid transmission strategy by integrating an event-triggering mechanism(ETM) with a Round-Robin protocol(RRP) is employed to schedule the data transmission between neighboring agents and improve channel utilization. Considering the presence of matched input perturbations to the system, a token-dependent distributed sliding mode control(SMC) scheme and co-design is constructed, which only depends on the state component at triggering instants instead of the real-time state information, thus efficiently alleviating continuous communication and data conflicts. The co-control strategy proposed in this study does not depend on any global network information. Therefore, the effectiveness of this control strategy will not be affected by the scale of the network. Using the Lyapunov stability theory, the consensus error tracking analysis of the system is given to guarantee the leader-follower consensus. Meanwhile, the controller gain and scheduling protocol parameters are obtained by solving the optimization problem. Finally, a numerical example shows the effectiveness of the proposed strategy.

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引用本文

胡志旭,陈蓓.混合调度协议下多智能体系统一致性滑模控制[J].控制与决策,2024,39(9):3052-3058

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  • 在线发布日期: 2024-08-07
  • 出版日期: 2024-09-20
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