无控制器间通信的线性多智能体一致性的降阶协议

马煜文; 李贤伟; 李少远

doi:10.16383/j.aas.c220420

无控制器间通信的线性多智能体一致性的降阶协议

doi: 10.16383/j.aas.c220420

马煜文^1,,
李贤伟^{1, 2, 3,},
李少远^{1, 2, 3,}

1.
上海交通大学自动化系上海 200240
2.
系统控制与信息处理教育部重点实验室上海 200240
3.
上海工业智能管控工程技术研究中心上海 200240

基金项目: 国家自然科学基金 (62273227, 61903250), 上海市自然科学基金 (21ZR1430500)资助

详细信息

作者简介:
马煜文：上海交通大学硕士研究生. 主要研究方向为多智能体一致性. E-mail: mo__om@sjtu.edu.cn

李贤伟：上海交通大学副教授. 主要研究方向为鲁棒控制, 网络化控制和多智能体系统的理论与应用研究. 本文通信作者. E-mail: xianwei.li@sjtu.edu.cn

李少远：上海交通大学教授. 主要研究方向为预测控制, 自适应控制和模糊智能控制的理论与应用研究. E-mail: syli@sjtu.edu.cn

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出版历程
- 收稿日期: 2022-05-22
- 录用日期: 2023-01-11
- 网络出版日期: 2023-04-18
- 刊出日期: 2023-09-26

A Reduced-order Protocol for Linear Multi-agent Consensus Without Inter-controller Communication

MA Yu-Wen^1
,,
LI Xian-Wei^{1, 2, 3
,},
LI Shao-Yuan^{1, 2, 3
,}

1.
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240
2.
Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240
3.
Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai 200240

Funds: Supported by National Natural Science Foundation of China (62273227, 61903250) and Natural Science Foundation of Shanghai (21ZR1430500)

More Information

Author Bio:
MA Yu-Wen　Master student at Shanghai Jiao Tong University. His main research interest is consensus of multi-agent systems

LI Xian-Wei　Associate professor at Shanghai Jiao Tong University. His research interest covers theoretical and applied research on robust control, networked control, and multi-agent systems. Corresponding author of this paper

LI Shao-Yuan　Professor at Shanghai Jiao Tong University. His research interest covers theoretical and applied research on predictive control, adaptive control, and fuzzy intelligent control

摘要

摘要: 针对线性同质多智能体系统, 提出一种新的降阶输出反馈一致性协议. 该协议仅依赖智能体间相对输出信息, 当相对输出信息可直接测量时, 该协议无需在邻居智能体间共享控制器的状态, 降低系统对通讯媒介的依赖. 本文首先给出该协议存在的充要条件, 然后证明闭环系统的一致性并计算一致性状态. 理论分析表明, 该协议仍然具有类似分离原理的性质, 因此其参数构造过程非常简便. 最后, 通过数值仿真对比实验, 验证了该控制协议的有效性.
- 多智能体系统 /
- 输出反馈 /
- 控制器间通信 /
- 一致性控制
Abstract: A new reduced-order output feedback consensus protocol is proposed for linear homogeneous multi-agent systems. An excellent property of the protocol is that only relative output information is needed, helping to reduce the system dependence on communication media, since agents do not need to exchange protocol state information when relative output information can be measured directly. This paper firstly gives the necessary and sufficient conditions for the existence of the protocol, and then proves consensus of the closed-loop system and derives the explicit expression of the consensus states. It is shown that the proposed protocol still meets the separation principle-like property and thus the protocol parameters are easy to compute. Finally, the effectiveness of the protocol is verified by a numerical experiment.
- Multi-agent systems /
- output feedback /
- inter-controller communication /
- consensus control
注释:

1) 1¹ 本文尚不清楚假设2在一般情形下的直观系统解释. 当$ n_u=n_y=1 $时, 假设2等价于要求智能体的相对阶为1. 若考虑文献[18]的对应条件, 即$ \mathrm{rank}(CB)=\mathrm{rank}(B)=n_u $, 根据未知输入观测器理论^[28], 该对应条件的直观解释为邻居的控制输入信号可以直接通过相对输出获得, 不过这种解释并不适用于假设2.

HTML全文

图 1 无控制器通信一致性协议(2)下的智能体状态$ x_i $

Fig. 1 Agent states $ x_i $ under the protocol (2)

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图 2 无控制器通信一致性协议(2)下的控制器状态$ r_i $

Fig. 2 Controller states $ r_i $ under the protocol (2)

下载: 全尺寸图片幻灯片

图 3 一致性协议$ (21) $下的智能体状态$ x_i $

Fig. 3 Agent states $ x_i $ under the protocol (21)

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图 4 遭受网络攻击时一致性协议$ (21) $下的智能体状态$ x_i $

Fig. 4 Agent states $ x_i $ under the protocol (21) when subjected to a network attack

下载: 全尺寸图片幻灯片

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