通信路径损耗下多智能体系统固定时间防碰防离编队控制

杨海骄; 刘安; 何舒平

doi:10.16383/j.aas.c240445

通信路径损耗下多智能体系统固定时间防碰防离编队控制

doi: 10.16383/j.aas.c240445 cstr: 32138.14.j.aas.c240445

杨海骄^1,,
刘安^1,,
何舒平^{1, 2, 3,}

1.
安徽大学电气工程与自动化学院合肥 230601
2.
信息材料与智能感知安徽省实验室合肥 230601
3.
计算智能与信号处理教育部重点实验室合肥 230601

基金项目: 国家自然科学基金(62203009, 62473003), 安徽省重点研发计划(2022i01020013), 安徽省高校协同创新计划(GXXT-2021-010), 安徽省自然科学基金(2108085QF275)资助

详细信息

作者简介:
杨海骄：安徽大学电气工程与自动化学院讲师. 2020年获得东北大学控制理论与工程博士学位. 主要研究方向为协同控制, 自适应控制, 有限时间控制, 多智能体系统的安全控制及其应用. E-mail: hjyang@ahu.edu.cn

刘安：安徽大学电气工程与自动化学院硕士研究生. 2023年获得南京工程学院学士学位. 主要研究方向为多智能体编队控制. E-mail: z23301070@stu.ahu.edu.cn

何舒平：安徽大学电气工程与自动化学院教授. 2011年获得江南大学控制理论与工程博士学位. 主要研究方向为随机系统控制, 强化学习, 应用系统建模, 信号处理和人工智能方法. 本文通信作者. E-mail: shuping.he@ahu.edu.cn

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出版历程
- 收稿日期: 2024-06-30
- 录用日期: 2024-12-13
- 网络出版日期: 2025-01-14

Fixed-time Formation Control of Multi-agent Systems With Collision and Isolation Avoidance Under Communication Path Losses

YANG Hai-Jiao^1
,,
LIU An^1
,,
HE Shu-Ping^{1, 2, 3
,}

1.
School of Electrical Engineering and Automation, Anhui University, Hefei 230601
2.
Information Materials and Intelligent Sensing Laboratory of Anhui Province, Anhui University, Hefei 230601
3.
Key Laboratory of Intelligent Computing and Signal Processing (Anhui University), Ministry of Education, Hefei 230601

Funds: Supported by the National Natural Science Foundation of China (62203009, 62473003), the Anhui Provincial Key Research and Development Project (2022i01020013), the University Synergy Innovation Program of Anhui Province (GXXT-2021-010), Anhui Provincial Natural Science Foundation (2108085QF275)

More Information

Author Bio:
YANG Hai-Jiao　Lecturer at the School of Electrical Engineering and Automation of Anhui University. He received his Ph.D. degree in control theory and engineering from Northeastern University in 2020. His research interests include cooperative control, adaptive control, finite-time control, security control of multi-agent system and their applications

LIU An　Master student at the School of Electrical Engineering and Automation of Anhui University. He received his bachelor degree from Nanjing Institute of Technology in 2023. His research interests include stochastic multi-agent formation control

HE Shu-Ping　Professor at the School of Electrical Engineering and Automation of Anhui University. He received his Ph.D. degree in control theory and engineering from Jiangnan University in 2011. His research interests include stochastic systems control, reinforcement learning, system modeling with applications, signal processing and artificial intelligence methods. Corresponding author of this paper

摘要

摘要: 针对多智能体系统中邻居间通信存在通信路径损耗的情况, 研究距离-变权重通信拓扑下非线性多智能体系统固定时间防碰防离编队控制问题, 充分考虑通信路径损耗所引起的拓扑变化的不确定性和距离相关性、系统中未知非线性动力学特性以及固定时间收敛的控制性能要求等. 为解决以上问题, 首先结合通信理论中的通信损耗模型和数学图论知识, 对通信路径损耗下的拓扑结构进行量化建模. 其次, 基于人工势场原理, 设计一套新的预设时间防碰防离策略, 以确保每个智能体在预设时间内离开碰撞与离群预警区, 避免碰撞与离群现象. 同时, 提出一种新的具有自适应增益的分层滑模面结构, 进一步改善系统的动态性能. 在此基础上, 结合自适应技术, 构建一套自适应分层滑模固定时间防碰防离编队控制方案. 所提方案不仅解决系统本身以及通信路径损耗所引起的非线性动态耦合问题, 而且保证通信路径损耗情况下多智能体系统的编队任务在固定时间内完成, 同时没有碰撞和离群现象. 最后, 给出严格的理论分析以及对比仿真结果, 证明所提控制方法的有效性和优越性.
- 多智能体系统 /
- 通信路径损耗 /
- 预设时间防碰防离 /
- 分层滑模控制 /
- 固定时间编队控制
Abstract: Addressing the issue of communication path loss in multi-agent systems where neighbors communicate, this study investigates the fixed-time collision and deviation prevention formation control problem for nonlinear multi-agent systems under distance-based weight-varying communication topology, where we synthetically consider the uncertainties and distance-related aspects of topology changes caused by communication path loss, the unknown nonlinear dynamic characteristics within the system, and the control performance requirements for fixed-time convergence. To tackle these issues, firstly, a quantified modeling of the topology structure under communication path attenuation is conducted by integrating communication loss models from communication theory and knowledge from mathematical graph theory. Secondly, based on the principle of artificial potential fields, a novel preset-time collision and deviation prevention strategy is designed to ensure that each agent leaves the collision and deviation warning area within a preset time, avoiding collisions and deviations. Concurrently, a new hierarchical sliding mode structure with adaptive gains is proposed to further enhance the system's dynamic performance. Building upon this, an adaptive hierarchical sliding mode fixed-time collision and deviation prevention formation control scheme is constructed by incorporating adaptive technique. The proposed scheme not only resolves the nonlinear dynamic coupling issues arising from the system itself and communication path loss but also ensures that the formation task of the multi-agent system is completed within a fixed time under communication path loss conditions, with no collisions or deviations. Finally, rigorous theoretical analysis and comparative simulation results are provided to demonstrate the effectiveness and superiority of the proposed control method.
- Multi-agent systems /
- communication path loss /
- prescribed-time collision avoidance and isolation avoidance /
- hierarchical sliding mode control /
- fixed time formation control

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图 1 距离-变权重示意图

Fig. 1 Distance-based attenuated weight

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图 2 防碰防离人工势场

Fig. 2 Artificial potential field of collision avoidance and isolation avoidance

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图 3 分层滑模图

Fig. 3 Hierarchical structure of sliding surfaces

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图 4 控制方案框图

Fig. 4 Control scheme diagram

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图 5 通信拓扑图

Fig. 5 Communication topology graph

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图 6 智能体编队队形

Fig. 6 Formation trajectories

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图 7 智能体编队误差

Fig. 7 Agent of tracking errors

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图 8 通信路径损耗率

Fig. 8 Communication path loss rate

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图 9 两种编队方法在不考虑路径损耗时智能体之间的距离

Fig. 9 Distance between agents for both formation methods without considering path loss

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图 10 两种编队方法在考虑路径损耗时智能体之间的距离

Fig. 10 Distance between agents for both formation methods with considering path loss

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图 11 包含/去除防碰防离策略下采用本文算法智能体之间的距离

Fig. 11 Distance between the agents using the proposed algorithm with / without collision avoidance and isolation avoidance strategy

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