通信链路故障下高阶非匹配非线性MAS领导跟随一致性

游秀; 张红; 梁吉业

doi:10.16383/j.aas.c240644

通信链路故障下高阶非匹配非线性MAS领导跟随一致性

doi: 10.16383/j.aas.c240644 cstr: 32138.14.j.aas.c240644

游秀^1,,
张红^1,,
梁吉业^1,

1.
山西大学计算机与信息技术学院太原 237016

基金项目: 国家自然科学基金(62373232, 62376141), 山西省基础研究计划(202403021224004), 山西大学“文瀛青年学者”人才计划资助

详细信息

作者简介:
游秀：山西大学计算机与信息技术学院副教授. 2018年获得燕山大学控制科学与工程博士学位. 主要研究方向为多智能体协同控制和强化学习. E-mail: youxiu@sxu.edu.cn

张红：山西大学计算机与信息技术学院硕士研究生. 2022年获得长治学院数据科学与大数据技术专业学士学位. 主要研究方向为多智能体协同控制. E-mail: zh140428@126.com

梁吉业：山西大学计算机与信息技术学院教授. 2001年获得西安交通大学博士学位. 主要研究方向为数据挖掘与机器学习、大数据分析技术、人工智能. E-mail: ljy@sxu.edu.cn

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出版历程
- 收稿日期: 2024-09-29
- 录用日期: 2025-02-14
- 网络出版日期: 2025-04-06

Leader-following Consensus for High-order Unmatched Nonlinear Multi-agent Systems With Communication Link Faults

1.
School of Computer and Information Technology, Shanxi University, Taiyuan 237016

Funds: Supported by National Natural Science Foundation of China under Grants (62373232, 62376141), Fundamental Research Program of Shanxi Province(202403021224004), and Wenying Young Scholar Talent Program of Shanxi University

More Information

Author Bio:
YOU Xiu　Associate Professor at the School of Computer and Information Technology, Shanxi University. She recieved her Ph.D. degree in control science and engineering from Yanshan University in 2018. Her research interests including cooperative control for multi-agent systems and reinforcement learning

ZHANG Hong　M.S. candidate at the School of Computer and Information Technology, Shanxi University. He received his bachelor degree in data science and big data technology from Changzhi University in 2022. His research interest is cooperative control for multi-agent systems

LIANG Ji-Ye　Professor at the School of Computer and Information Technology, Shanxi University. He received his Ph.D. degree from Xi’an Jiaotong University in 2001. His research interests including data mining and machine learning, big data analysis technology and artificial intelligence

摘要

摘要: 研究了通信链路故障下一类高阶非匹配非线性多智能体系统(MAS)的领导跟随一致性控制问题. 为了处理非匹配非线性项和通信链路故障, 提出了一种基于三个在线调节动态参数的补偿器. 然后, 仅使用局部补偿信息, 设计了一个完全分布式控制器以保证系统的领导-跟随一致性, 并以矩阵不等式的形式给出了确定控制增益和补偿器参数的充分条件. 最后通过仿真验证了所提结论的有效性.
- 多智能体系统 /
- 非匹配非线性 /
- 通信链路故障 /
- 领导跟随一致性
Abstract: This paper investigates the leader-following consensus problem for a class of high-order unmatched nonlinear multi-agent systems with communication link faults. To deal with the unmatched nonlinear and communication link faults, a new compensator with three online tuned dynamic gains is proposed. Then, using only the local compensation information, a fully distributed consensus controller is designed to guarantee the leader-following consensus. Sufficient conditions in terms of matrix inequalities are derived to determine control gains and compensator parameters. Simulation studies are presented to demonstrate the proposed theoretical results.
- Multi-agent systems /
- Unmatched nonlinearity /
- Communication link faults /
- Leader-following consensus

HTML全文

图 1 通信拓扑图

Fig. 1 Communication topology

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图 2 跟踪误差$\tilde{x}_{i,\;m},\; m=1,\;2 $

Fig. 2 Tracking errors $\tilde{x}_{i,\;m},\; m=1,\;2 $

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图 3 动态参数$L_i $

Fig. 3 Dynamic parameter $L_i $

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图 5 动态参数$\gamma_i $

Fig. 5 Dynamic parameter $\gamma_i $

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图 4 动态参数$\hat{\theta}_i $

Fig. 4 Tracking error $\hat{\theta}_i $

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