[1]马连增,陈雪波,张化光.多智能体网络系统的自适应协调控制[J].智能系统学报,2012,7(03):220-224.
 MA Lianzeng,CHEN Xuebo,ZHANG Huaguang.Adaptive coordination control for networked multiagent systems[J].CAAI Transactions on Intelligent Systems,2012,7(03):220-224.
点击复制

多智能体网络系统的自适应协调控制(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第7卷
期数:
2012年03期
页码:
220-224
栏目:
出版日期:
2012-06-25

文章信息/Info

Title:
Adaptive coordination control for networked multiagent systems
文章编号:
1673-4785(2012)03-0220-05
作者:
马连增12陈雪波2张化光1
1.东北大学 信息科学与工程学院,辽宁 沈阳 110004;
2.辽宁科技大学 电子与信息工程学院,辽宁 鞍山 114051
Author(s):
MA Lianzeng12 CHEN Xuebo2 ZHANG Huaguang1
1. School of Information Science and Engineering, Northeast University, Shenyang 110004, China;
2. School of Electronics and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China
关键词:
多智能体网络系统协调控制自适应控制网络控制
Keywords:
multiagent networked systems coordination control adaptive control network control
分类号:
TP18
文献标志码:
A
摘要:
为实现多智能体网络系统的协调控制,设计了一种新型的带有自适应协调器的控制器.基于动态图建立了多智能体网络系统的模型,并考虑了系统的非线性互联和不可避免存在的时变时滞.应用分布式控制策略,设计了自适应参数估计的协调器,用于调节智能体之间的互联强度,使网络达到稳定的预设水平.并基于LyapunovKrasovskii泛函和自适应动态偏差反馈控制技术,根据拉萨尔不变集原理证明了偏差控制系统的渐近收敛性.这种控制方法,可在系统参数不确定的情况下,同时完成参数估计和协调控制.所设计的控制律和自适应律简单,易于实现,仿真示例验证了所提方法的有效性.
Abstract:
In this paper, a novel controller with an adaptive coordinator was designed in order to realize coordination control of multiagent networked systems. First, multiagent networked systems were modeled based on dynamic graphs while taking into consideration nonlinear interconnection and nonavoidable timevarying delays. Then, applying distribution control policy, a coordinator with adaptive parameter estimation was designed to obtain the desired stable state by adjusting the interconnection level. Asymptotic convergence of the error control system was proved by the LyapunovKrasovskii function, adaptive deflection feedback control technology, and La Salle’s invariant set theory. This method can complement parameter estimation and coordination control simultaneously under uncertainty and has the advantages of being simple and easy to complement. A simulation example was given to verify the effectiveness of the proposed method. 

参考文献/References:

[1]JADBABAIE A, LIN J, MORSE A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6): 9881001.
[2]REN W, BEARD R W. Consensus seeking in multiagent systems under dynamically changing interaction topologies[J]. IEEE Transactions on Automatic Control, 2005, 50(5): 655661.
[3]MOREAU L. Stability of multiagent systems with timedependent communication links[J]. IEEE Transactions on Automatic Control, 2005, 50(2): 169181.
[4]OLFATISABER R. Flocking for multiagent dynamic systems: algorithms and theory[J]. IEEE Transactions on Automatic Control, 2006, 51(3): 401420.
[5]SAVKIN A V. Coordinated collective motion of groups of autonomous mobile robots: analysis of Vicsek’s model[J]. IEEE Transactions on Automatic Control, 2004, 39(6): 981983.
[6]LI Zhongkui, DUAN Zhisheng, CHEN Guanrong, et al. Consensus of multiagent systems and synchronization of complex networks: a unified viewpoint[J]. IEEE Transactions on Circuits and Systems, 2010, 57(1): 213224.
[7]洪奕光,翟超.多智能体系统动态协调与分布式控制设计[J].控制理论与应用, 2011, 28(10): 15061512.
HONG Yiguang, ZHAI Chao. Dynamic coordination and distributed control design of multiagent systems[J]. Control Theory and Applications, 2011, 28(10): 15061512.
[8]梅杰,张海博,马广富.有向图中网络EulerLagrange系统的自适应协调跟踪[J].自动化学报, 2011, 37(5): 596603.
MEI Jie, ZHANG Haibo, MA Guangfu. Adaptive coordinated tracking for networked EulerLagrange systems under a directed graph[J]. Acta Automatica Sinica, 2011, 37(5): 596603.
[9]CORTS J. Distributed algorithms for reaching consensus on general functions[J]. Automatica, 2008, 44(3): 726737.
[10]ARCAK M. Passivity as a design tool for group coordination[J]. IEEE Transactions on Automatic Control, 2007, 52(8): 13801390.
[11]HONG Yiguang, HU Jiangping, GAO Linxin. Tracking control for multiagent consensus with an active leader and variable topology[J]. Automatica, 2006, 42(7): 11771182.
[12]ILJAK D D. Dynamic graphs[J]. Nonlinear Analysis: Hybrid Systems, 2008, 2(2): 544567.

相似文献/References:

[1]王冬梅,方华京.反馈控制策略的自适应群集运动[J].智能系统学报,2011,6(02):141.
 WANG Dongmei,FANG Huajing.An adaptive flocking motion with a leader based on a feedback control scheme[J].CAAI Transactions on Intelligent Systems,2011,6(03):141.
[2]徐志强,陈雪波.包含原理的群体机器人队形一致协调控制[J].智能系统学报,2015,10(02):301.[doi:10.3969/j.issn.1673-4785.201311073]
 XU Zhiqiang,CHEN Xuebo.Consensus coordinated control for swarm robots formation based on inclusion principles[J].CAAI Transactions on Intelligent Systems,2015,10(03):301.[doi:10.3969/j.issn.1673-4785.201311073]
[3]马晨,陈雪波.基于包含原理的多智能体一致性协调控制[J].智能系统学报,2014,9(04):468.[doi:10.3969/j.issn.1673-4785.201306024]
 MA Chen,CHEN Xuebo.Coordinated control of the consensus of a multi-agent system based on the inclusion principle[J].CAAI Transactions on Intelligent Systems,2014,9(03):468.[doi:10.3969/j.issn.1673-4785.201306024]

备注/Memo

备注/Memo:
收稿日期: 2012-01-03.
基金项目:国家自然科学基金资助项目(60874017,61034005).
通信作者:连增. E-mail: mlzhxm@sina.com.
作者简介:
马连增,男,1970年生,副教授,博士研究生,主要研究方向为非线性系统、组群系统分散控制,参与国家自然科学基金项目2项,发表学术论文8篇.
陈雪波,男,1960年生,教授,博士生导师, 中国自动化学会过程控制专业委员会委员.主要研究方向为复杂系统、多智能体系统等.主持多项国家及省部级科研基金项目.
张化光,男,1959年生,教授,博士生导师,长江学者特聘教授,流程工业综合自动化国家教育部重点实验室副主任, 中国人工智能学会智能系统专业委员会副主任委员.主要研究方向为复杂系统的模糊自适应控制、非线性控制等. 作为课题负责人曾获得国家杰出青年科学基金、国家自然科学基金重点或面上项目(4项)、国家“863”计划重大项目(4项)、归国留学人员基金、国家教委博士点基金、辽宁省重点科技攻关课题、国家教育部国际合作专项基金等资助,以及承担了20余项企业的重大自动化工程项目.曾作为第一获奖人获国家、省部级科技进步奖和自然科学奖6项,申请国家技术发明专利20余项.发表学术论文300余篇,被SCI、EI、ISTP检索200余篇.
更新日期/Last Update: 2012-09-05