[1]陈世明,邱昀,黄跃,等.基于牵制控制的异质多智能体系统的群一致性研究[J].智能系统学报,2019,14(02):355-361.[doi:10.11992/tis.201710002]
 CHEN Shiming,QIU Yun,HUANG Yue,et al.Research on group consensus of heterogeneous multi-agent systems via pinning control[J].CAAI Transactions on Intelligent Systems,2019,14(02):355-361.[doi:10.11992/tis.201710002]
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基于牵制控制的异质多智能体系统的群一致性研究(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第14卷
期数:
2019年02期
页码:
355-361
栏目:
出版日期:
2019-03-05

文章信息/Info

Title:
Research on group consensus of heterogeneous multi-agent systems via pinning control
作者:
陈世明 邱昀 黄跃 江冀海
华东交通大学 电气与自动化工程学院, 江西 南昌 330013
Author(s):
CHEN Shiming QIU Yun HUANG Yue JIANG Jihai
School of Electrical and Automation Engineering, East China JiaoTong University, Nanchang 330013, China
关键词:
Euler-Lagrange智能体异质多智能体系统群一致性期望状态牵制控制固定拓扑李亚普诺夫函数拉塞尔不变集原理
Keywords:
Euler-Lagrange agentheterogeneous multi-agent systemsgroup consensusdesired statepinning controlfixed topologyLyapunov theoryBarbalat’s Lemma
分类号:
TP273
DOI:
10.11992/tis.201710002
摘要:
为了研究由线性的一阶智能体、二阶智能体和非线性的EL (Euler-Lagrange)结构智能体组成的异质多智能体系统的群一致性,并实现同一个子群中智能体状态趋于期望的状态,针对无向的固定拓扑情况,提出了基于牵制控制的分布式控制协议。并通过代数图论、李雅普诺夫函数和拉塞尔不变集原理证明了控制协议的可行性。数值仿真结果表明:在所提控制协议作用下能够实现包含非线性EL结构的异质多智能体系统的群一致性,与未引入牵制控制的群一致性算法相比各个子群能够趋于期望的状态。
Abstract:
In order to research the group consensus problem of heterogeneous multi-agent systems composed of the linear first-and second-order integrator agents together with the nonlinear Euler-Lagrange(EL) agents, and the states of agents in the same subgroup can converge to the desired state, for undirected fixed topology, a distributed control protocol via pinning scheme is proposed; Based on graph theory, Lyapunov theory and Barbalat’s Lemma, the feasibility of the controllers is proved. Finally, Simulation results show that the group consensus of the heterogeneous multi-agent systems with the nonlinear EL structure can be realized under the control protocol proposed, Compared with group consensus algorithm without pinning control, each subgroups can be tend to a desired state.

参考文献/References:

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相似文献/References:

[1]王晓宇,刘开恩,纪志坚,等.异质多智能体系统二分一致性的充要条件[J].智能系统学报,2020,15(4):679.[doi:10.11992/tis.201901008]
 WANG Xiaoyu,LIU Kaien,JI Zhijian,et al.Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems[J].CAAI Transactions on Intelligent Systems,2020,15(02):679.[doi:10.11992/tis.201901008]

备注/Memo

备注/Memo:
收稿日期:2017-10-09。
基金项目:国家自然科学基金项目(11662002).
作者简介:陈世明,男,1977年生,教授,博士生导师,中国自动化学会青工委委员,主要研究方向为群体力学与协调控制、复杂网络理论及应用、多机器人系统。发表学术论文65篇,其中SCI、EI检索近50篇。;邱昀,男,1990年生,硕士研究生,主要研究方向为多智能体系统的协同控制。;黄跃,男,1987年生,讲师,博士,主要研究方向为信号处理、复杂网络建模和动力学研究。
通讯作者:陈世明.E-mail:shmchen@ecjtu.jx.cn
更新日期/Last Update: 2019-04-25