基于牵制控制的异质多智能体系统的群一致性研究

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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 agent; heterogeneous multi-agent systems; group consensus; desired state; pinning control; fixed topology; Lyapunov theory; Barbalat’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.