| 引用本文: | 舒静峰,薛焕新,倪洪杰,张丹.异构多智能体系统耗散性异步控制器设计[J].哈尔滨工业大学学报,2023,55(4):90.DOI:10.11918/202111100 |
| SHU Jingfeng,XUE Huanxin,NI Hongjie,ZHANG Dan.Design of dissipativity asynchronous controller for heterogeneous multi-agent system[J].Journal of Harbin Institute of Technology,2023,55(4):90.DOI:10.11918/202111100 |
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| 摘要: |
| 为应对因复杂网络攻击、物理限制等因素导致异构多智能体系统的系统模态与控制器模态异步问题,保证多智能体系统的一致性,提高系统运行安全性,提出了一种基于耗散性能的输出反馈控制器设计方法。针对实际工程中状态不可测得的情况,采用了更具实际意义的输出反馈控制,并设计了一个分布式动态补偿器,结合输出调节技术将异构多智能体系统构建为一个闭环误差系统。采用隐马尔可夫模型,对多智能体系统与控制器的异步现象进行刻画,形成一个双链马尔可夫跳变模型。利用Lyapunov稳定性分析方法给出闭环误差系统的随机稳定与严格(D,E,F)-α耗散性条件,实现了异构多智能体系统的输出一致性。进一步,通过将具有耗散性能的异步控制器增益设计转化为一组线性矩阵不等式的可行解问题,得到了增益设计方法。最后通过一个仿真实例验证了本研究所提出控制算法的有效性。结果表明:与现有结果相比,本研究所设计的基于输出反馈的耗散性异步控制器对各类多智能体系统具有良好的兼容性；同时,还有许多技术难题亟需解决,而随着科技的发展,更加通畅的网络通信方式与灵敏的传感器网络可以作为以后多智能体协同控制领域关键问题突破的参考。 |
| 关键词: 隐马尔可夫模型 多智能体系统 耗散性控制 异步控制器 Lyapunov理论 |
| DOI：10.11918/202111100 |
| 分类号:TP13 |
| 文献标识码:A |
| 基金项目:国家重点研发计划(2018YFB1403702)；国家自然科学基金(61873237)；浙江省自然科学基金(LR22F030003)；浙江省高校基本科研业务费项目(RF-A2019003) |
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| Design of dissipativity asynchronous controller for heterogeneous multi-agent system |
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SHU Jingfeng1,XUE Huanxin2,NI Hongjie1,ZHANG Dan1
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(1.College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China; 2.Zhejiang Dafeng Industry Co., Ltd., Hangzhou 315400, China)
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| Abstract: |
| To deal with the asynchronous problem of system modal and controller modal of heterogeneous multi-agent systems caused by complex network attacks, physical limitations and other factors, ensure the consistency of multi-agent systems, and improve the security of system operation. This paper proposes a design method of output feedback controller based on dissipative performance. Aiming at the situation that the state cannot be measured in the actual project, a more practical output feedback control is adopted, and a distributed dynamic compensator is designed. Combined with the output adjustment technology, the heterogeneous multi-agent system is constructed as a closed-loop error system. The hidden Markov model is used to describe the asynchronous phenomenon between multi-agent system and controller, and a double-chain Markov jump model is formed. The stochastic stability and strictly (D,E,F)-α dissipativity conditions of closed-loop error system are given by the Lyapunov stability analysis method, and the output consistency of heterogeneous multi-agent system is realized. Furthermore, a gain design method is obtained by transforming the gain design of asynchronous controller with dissipative properties into a set of feasible solutions of linear matrix inequalities. Finally, a simulation example verifies the effectiveness of the control algorithm proposed in this paper. The results show that compared with the existing results, the dissipative asynchronous controller based on output feedback designed in this paper has good compatibility with various multi-agent systems. At the same time, there are still many technical problems that need to be solved urgently. With the development of science and technology, smoother network communication methods and sensitive sensor networks can be used as references for breakthroughs of key issues in the field of multi-agent collaborative control in the future. |
| Key words: hidden Markov model multi-agent systems dissipativity control asynchronous controller Lyapunov theory |
