单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

彭周华; 王丹; 王昊; 王巍

doi:10.3724/SP.J.1004.2014.02595

单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

doi: 10.3724/SP.J.1004.2014.02595

1.
大连海事大学大连 116026

基金项目:

Supported by National Natural Science Foundation of China (61273137, 51209026, 61074017), the Scientific Research Fund of Liaoning Provincial Education Department (L2013202), and the Fundamental Research Funds for the Central Universities (3132013037, 3132014047, 3132014321)

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- 被引次数: 0
出版历程
- 收稿日期: 2013-06-24
- 修回日期: 2013-09-06
- 刊出日期: 2014-11-20

Cooperative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Directed Topologies

1.
School of Marine Engineering, Dalian Maritime University, Dalian 116026, China

Funds:

摘要

摘要: 研究单向通信拓扑领航者动态未知线性多智能体系统的协同跟踪问题.基于邻居的相对状态信息,设计了分布式迭代学习控制律实现对领航者的协同跟踪控制,采用Lyapunov-Krasovskii函数分析闭环系统的稳定性与收敛性.进而,将状态反馈结论拓展到输出反馈,通过构造局部观测器估计不可量测的状态信息,采用估计的相对状态信息设计了分布式迭代学习控制器.对于以上两种情形,多智能体系统在通讯拓扑含有生成树的条件下能够实现与领航者的状态同步,同时,所设计的分布式迭代学习律能够对领航者未知输入进行精确估计.仿真实例验证了所提方法的有效性.
- 协同控制 /
- 动态领航者 /
- 线性多智能体系统 /
- 迭代学习
Abstract: This paper considers the cooperative tracking of linear multi-agent systems with a dynamic leader whose input information is unavailable to any followers. Cooperative iterative learning controllers, based on the relative state information of neighboring agents, are proposed for tracking the dynamic leader over directed communication topologies. Stability and convergence of the proposed controllers are established using Lyapunov-Krasovskii functionals. Furthermore, this result is extended to the output feedback case where only the output information of each agent can be obtained. A local observer is constructed to estimate the unmeasurable states. Then, cooperative iterative learning controllers, based on the relative observed states of neighboring agents, are devised. For both cases, it is shown that the multi-agent systems whose communication topologies contain a spanning tree can reach synchronization with the dynamic leader, and meanwhile identify the unknown input of the dynamic leader using distributed iterative learning laws. An illustrative example is provided to verify the proposed control schemes.
- Cooperative control /
- dynamic leader /
- linear multi-agent systems /
- iterative learning

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参考文献(28)

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