2.845

2023影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

组合连通拓扑下基于事件触发的多智能体快速一致性算法

陈世明 管俊杰 高彦丽 裴惠琴 邱昀

连峰, 吕宁, 韩崇昭. 群目标联合检测与估计误差界的递推形式. 自动化学报, 2015, 41(12): 2026-2035. doi: 10.16383/j.aas.2015.c140794
引用本文: 陈世明, 管俊杰, 高彦丽, 裴惠琴, 邱昀. 组合连通拓扑下基于事件触发的多智能体快速一致性算法. 自动化学报, 2018, 44(12): 2269-2277. doi: 10.16383/j.aas.2018.c160839
LIAN Feng, LV Ning, HAN Chong-Zhao. The Recursive Form of Error Bound for Joint Detection and Estimation of Groups. ACTA AUTOMATICA SINICA, 2015, 41(12): 2026-2035. doi: 10.16383/j.aas.2015.c140794
Citation: CHEN Shi-Ming, GUAN Jun-Jie, GAO Yan-Li, PEI Hui-Qin, QIU Yun. Event-triggered Fast Consensus Algorithm for Multi-agent Systems Under Jointly-connected Topology. ACTA AUTOMATICA SINICA, 2018, 44(12): 2269-2277. doi: 10.16383/j.aas.2018.c160839

组合连通拓扑下基于事件触发的多智能体快速一致性算法

doi: 10.16383/j.aas.2018.c160839
基金项目: 

国家自然科学基金 11662002

国家自然科学基金 61364017

江西省科技厅项目 20165BCB190 11

江西省科技厅项目 20171BAB202029

江西省教育厅项目 GJJ151168

江西省科技厅项目 20161BBE53008

详细信息
    作者简介:

    管俊杰   华东交通大学电气与自动化工程学院硕士研究生.2015年获得湖南工业大学学士学位.主要研究方向为多智能体系统协调控制.E-mail:junjieguan@163.com

    高彦丽   华东交通大学电气与自动化工程学院副教授.主要研究方向为工业过程参数检测, 复杂网络安全及控制.E-mail:selina@ecjtu.jx.cn

    裴惠琴   华东交通大学电气与自动化工程学院博士研究生.2010年获得华东交通大学控制理论与控制工程硕士学位.主要研究方向为群体动力学与协调控制.E-mail:peihuiqinnx@126.com

    邱昀  华东交通大学电气与自动化工程学院硕士研究生.主要研究方向为多智能体系统协调控制.E-mail:qiuyun1004@163.com

    通讯作者:

    陈世明   华东交通大学电气与自动化工程学院教授.2006年获得华中科技大学博士学位.主要研究方向为复杂网络理论及应用, 多智能体系统协调控制, 粒子群优化算法.本文通信作者.E-mail:shmchen@ecjtu.jx.cn

Event-triggered Fast Consensus Algorithm for Multi-agent Systems Under Jointly-connected Topology

Funds: 

National Natural Science Foundation of China 11662002

National Natural Science Foundation of China 61364017

Project of Science and Technology Department of Jiangxi Province 20165BCB190 11

Project of Science and Technology Department of Jiangxi Province 20171BAB202029

Project of Education Department of Jiangxi Province GJJ151168

Project of Science and Technology Department of Jiangxi Province 20161BBE53008

More Information
    Author Bio:

       Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. He received his bachelor degree from Hunan University of Technology in 2015. His research interest covers coordination control of multi-agent systems

      Associate professor at the School of Electrical Engineering and Automation, East China Jiaotong University. Her research interest covers industrial process parameter detection, safety and control of complex networks

       Ph. D. candidate at the School of Electrical and Automation Engineering, East China Jiaotong University. She received her master degree in control theory and control engineering from East China Jiaotong University in 2010. Her research interest covers swarm dynamics and cooperative control

       Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. His research interest covers coordination control of multi-agent systems

    Corresponding author: CHEN Shi-Ming   Professor at the School of Electrical and Automation Engineering, East China Jiaotong University. He received his Ph. D. degree from Huazhong University of Science and Technology in 2006. His research interest covers complex network theory and application, coordination control of multi-agent systems, and particle swarm optimization (PSO) algorithm. Corresponding author of this paper
  • 摘要: 针对组合连通拓扑下多智能体系统控制过程中存在通信和计算资源损耗大以及系统收敛速度慢等问题,提出一种新的具有状态预测器的事件触发一致性控制协议,通过设计状态预测器使每个智能体都能对其邻居智能体的未来状态作出预测;同时,对于智能个体给出了基于状态信息的事件触发条件,当状态误差满足该条件才触发事件.在该控制策略下多智能体系统可在节约通信和计算资源的同时具有更快的收敛速度.利用Lyapunov稳定性理论和代数图论,证明了所提事件触发控制策略能够有效实现组合连通拓扑结构下的平均一致性,且不存在Zeno行为.仿真实例进一步验证了理论结果的有效性.

  • 本文责任编委 吕金虎
  • 图  1  拓扑图

    Fig.  1  Topological graph

    图  2  $\tau =0.5$ s时, 三种控制策略下的状态轨迹

    Fig.  2  The state trajectory under three kinds of\\ control scheme when $\tau =0.5$ s

    图  3  $\tau =0.5$ s时三种控制策略下的分歧向量范数$\left\| {\delta (t)} \right\|$

    Fig.  3  The Euclidean norm of disagreement vector $\left\| {\delta (t)} \right\|$ under three kinds of control scheme when $\tau =0.5$ s

    图  4  有无状态预测控制策略下状态轨迹对比图

    Fig.  4  The comparison diagram between predictive control scheme and common control scheme

    图  5  $\tau =0.5$ s每个智能体在控制策略(7)下触发间隔

    Fig.  5  The triggered interval of each agent under control scheme (7)

    表  1  事件条件(7), (9)和(10)下平均触发间隔

    Table  1  The average triggered interval under event conditions (7), (9) and (10)

    拓扑切换事件条件(s)
    周期(s)式(7)式(9)式(10)
    0.40.95630.67420.7892
    0.51.08770.72090.9461
    0.61.10270.80571.0673
    下载: 导出CSV
  • [1] Clohessy W H, Wiltshire R S. Terminal guidance system for satellite rendezvous. Journal of the Aerospace Sciences, 2012, 27(9):653-658 doi: 10.2514/8.8704
    [2] Horsley M, Nikolaev S, Pertica A. Small satellite rendezvous using differential lift and drag. Journal of Guidance, Control, and Dynamics, 2013, 36(2):445-453 doi: 10.2514/1.57327
    [3] 罗小元, 杨帆, 李绍宝, 关新平.多智能体系统的最优持久编队生成策略.自动化学报, 2014, 40(7):1311-1319 http://www.aas.net.cn/CN/abstract/abstract18402.shtml

    Luo Xiao-Yuan, Yang Fan, Li Shao-Bao, Guan Xin-Ping. Generation of optimally persistent formation for multi-agent systems. Acta Automatica Sinica, 2014, 40(7):1311-1319 http://www.aas.net.cn/CN/abstract/abstract18402.shtml
    [4] Lv J, Chen F, Chen G R. Nonsmooth leader-following formation control of nonidentical multi-agent systems with directed communication topologies. Automatica, 2016, 64:112-120 doi: 10.1016/j.automatica.2015.11.004
    [5] Pei H Q, Chen S M, Lai Q. A local flocking algorithm of multi-agent dynamic systems. International Journal of Control, 2015, 88(11):2242-2249 doi: 10.1080/00207179.2015.1039595
    [6] 陈世明, 化俞新, 祝振敏, 赖强.邻域交互结构优化的多智能体快速蜂拥控制算法.自动化学报, 2015, 41(12):2092-2099 http://www.aas.net.cn/CN/abstract/abstract18782.shtml

    Chen Shi-Ming, Hua Yu-Xin, Zhu Zhen-Min, Lai Qiang. Fast flocking algorithm for multi-agent systems by optimizing local interactive topology. Acta Automatica Sinica, 2015, 41(12):2092-2099 http://www.aas.net.cn/CN/abstract/abstract18782.shtml
    [7] Du H B, Li S H. Attitude synchronization control for a group of flexible spacecraft. Automatica, 2014, 50(2):646-651 doi: 10.1016/j.automatica.2013.11.022
    [8] Weng S X, Yue D. Distributed event-triggered cooperative attitude control of multiple rigid bodies with leader-follower architecture. International Journal of Systems Science, 2016, 47(3):631-643 doi: 10.1080/00207721.2014.891777
    [9] Vicsek T, Czirók A, Ben-Jacob E, Cohen I, Shochet O. Novel type of phase transition in a system of self-driven particles. Physical Review Letters, 1995, 75(6):1226-1229 doi: 10.1103/PhysRevLett.75.1226
    [10] Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2003, 48(6):988-1001 doi: 10.1109/TAC.2003.812781
    [11] Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 2004, 49(9):1520-1533 doi: 10.1109/TAC.2004.834113
    [12] Ren W, Beard R W. Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Transactions on Automatic Control, 2005, 50(5):655-661 doi: 10.1109/TAC.2005.846556
    [13] Ferrari-Trecate G, Galbusera L, Marciandi M P E, Scattolini R. Model predictive control schemes for consensus in multi-agent systems with single-and double-integrator dynamics. IEEE Transactions on Automatic Control, 2009, 54(11):2560-2572 doi: 10.1109/TAC.2009.2031208
    [14] 席裕庚, 黄维, 李晓丽.具有状态预测器的多智能体系统一致性研究.控制与决策, 2010, 25(5):769-772 http://d.old.wanfangdata.com.cn/Periodical/kzyjc201005025

    Xi Yu-Geng, Huang Wei, Li Xiao-Li. Consensus of multi-agent system with state predictor. Control and Decision, 2010, 25(5):769-772 http://d.old.wanfangdata.com.cn/Periodical/kzyjc201005025
    [15] Wang H W, Liao X F, Huang T W. Accelerated consensus to accurate average in multi-agent networks via state prediction. Nonlinear Dynamics, 2013, 73(1-2):551-563 doi: 10.1007/s11071-013-0808-9
    [16] Liu H Y, Xie G M, Wang L. Necessary and sufficient conditions for solving consensus problems of double-integrator dynamics via sampled control. International Journal of Robust and Nonlinear Control, 2010, 20(15):1706-1722 doi: 10.1002/rnc.v20:15
    [17] Gao Y P, Wang L. Sampled-data based consensus of continuous-time multi-agent systems with time-varying topology. IEEE Transactions on Automatic Control, 2011, 56(5):1226-1231 doi: 10.1109/TAC.2011.2112472
    [18] Dimarogonas D V, Frazzoli E, Johansson K H. Distributed event-triggered control for multi-agent systems. IEEE Transactions on Automatic Control, 2012, 57(5):1291-1297 doi: 10.1109/TAC.2011.2174666
    [19] Seyboth G S, Dimarogonas D V, Johansson K H. Event-based broadcasting for multi-agent average consensus. Automatica, 2013, 49(1):245-252 doi: 10.1016/j.automatica.2012.08.042
    [20] 黄红伟, 黄天民, 吴胜, 周坤.基于事件触发的二阶多智能体领导跟随一致性.控制与决策, 2016, 31(5):835-841 http://d.old.wanfangdata.com.cn/Periodical/kzyjc201605011

    Huang Hong-Wei, Huang Tian-Min, Wu Sheng, Zhou Kun. Leader-following consensus of second-order multi-agent systems via event-triggered control. Control and Decision, 2016, 31(5):835-841 http://d.old.wanfangdata.com.cn/Periodical/kzyjc201605011
    [21] Liu Z, Chen Z. Reaching consensus in networks of agents via event-triggered control. Journal of Information and Computational Science, 2011, 8(3):393-402 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=90b28dfae45d30d357a5b2acfb8e84d8
    [22] Xie D S, Yuan D M, Lu J W, Zhang Y J. Consensus control of second-order leader-follower multi-agent systems with event-triggered strategy. Transactions of the Institute of Measurement and Control, 2013, 35(4):426-436 doi: 10.1177/0142331212454046
    [23] 杨若涵, 张皓, 严怀成.基于事件触发的拓扑切换异构多智能体协同输出调节.自动化学报, 2017, 43(3):472-477 http://www.aas.net.cn/CN/abstract/abstract19025.shtml

    Yang Ruo-Han, Zhang Hao, Yan Huai-Cheng. Event-triggered cooperative output regulation of heterogeneous multi-agent systems with switching topology. Acta Automatica Sinica, 2017, 43(3):472-477 http://www.aas.net.cn/CN/abstract/abstract19025.shtml
    [24] Seyboth G S. Event-Based Control for Multi-Agent Systems[Master thesis], KTH Electrical Engineering, Sweden, 2010.
    [25] Chen X, Hao F, Shao M Y. Event-triggered consensus of multi-agent systems under jointly connected topology. IMA Journal of Mathematical Control and Information, 2015, 32(3):537-556 doi: 10.1093/imamci/dnu009
    [26] Godsil C, Royle G. Algebraic Graph Theory. Berlin: Springer-Verlag, 2001. 69-83
  • 期刊类型引用(29)

    1. 李倩,聂简,黄鸿殿,孔庆宇,奔粤阳. 基于大脑海马认知机理的主从式AUV协同定位方法. 中国惯性技术学报. 2024(01): 27-33 . 百度学术
    2. 游雄,李科,田江鹏,杨剑,余岸竹,贾奋励. 机器地图信息加工模型. 武汉大学学报(信息科学版). 2024(04): 516-526 . 百度学术
    3. 高昊,王仁茂. 基于类脑仿生的环境感知技术. 舰船电子对抗. 2024(05): 42-46+55 . 百度学术
    4. 陈荟慧,钟委钊. 基于人机协作的高质量城市图像采集方法. 应用科学学报. 2023(05): 801-814 . 百度学术
    5. 朱祥维,沈丹,肖凯,马岳鑫,廖祥,古富强,余芳文,高柯夫,刘经南. 类脑导航的机理、算法、实现与展望. 航空学报. 2023(19): 6-38 . 百度学术
    6. 于乃功,廖诣深. 基于鼠脑内嗅—海马认知机制的移动机器人空间定位模型. 生物医学工程学杂志. 2022(02): 217-227 . 百度学术
    7. 刘溢,阳加远,张驰. 一种基于RTX的移动机器人实时控制平台. 电子技术与软件工程. 2022(08): 169-172 . 百度学术
    8. 于子航,王改云. 基于路径积分强化的机器人目标导向运动控制. 计算机仿真. 2022(07): 412-415+516 . 百度学术
    9. 董卫华,刘毅龙,黑巧松,杨天宇. 泛地图空间认知理论与方法研究框架. 武汉大学学报(信息科学版). 2022(12): 2007-2014 . 百度学术
    10. 阮晓钢,李鹏,朱晓庆,刘鹏飞. 基于目标导向行为和空间拓扑记忆的视觉导航方法. 计算机学报. 2021(03): 594-608 . 百度学术
    11. 赵辰豪,吴德伟,韩昆,代传金. 无环境信息下多尺度网格细胞群空间表征模型. 系统工程与电子技术. 2021(03): 814-822 . 百度学术
    12. 阮晓钢,柴洁,武悦,张晓平,黄静. 基于海马体位置细胞的认知地图构建与导航. 自动化学报. 2021(03): 666-677 . 本站查看
    13. 冀俊忠,刘金铎,邹爱笑,杨翠翠. 一种融合多源信息的脑效应连接网络蚁群学习算法. 自动化学报. 2021(04): 864-881 . 本站查看
    14. 万刚,武易天. 地图空间认知的数学基础. 测绘学报. 2021(06): 726-738 . 百度学术
    15. 洪涛,史涛,任红格. 一种改进型RatSLAM算法构建认知地图的研究. 现代计算机. 2021(21): 47-52 . 百度学术
    16. 韩昆,吴德伟,来磊. 类脑导航中基于差分Hebbian学习的网格细胞构建模型. 系统工程与电子技术. 2020(03): 674-679 . 百度学术
    17. 黄宜庆,王正刚,王徽,葛愿. 基于边缘梯度算法的多移动机器人协作地图构建. 信息与控制. 2020(01): 62-68 . 百度学术
    18. 于乃功,廖诣深,郑相国. 一种基于海马位置细胞选择机制的空间认知模型. 生物医学工程学杂志. 2020(01): 27-37 . 百度学术
    19. 胡小平,毛军,范晨,张礼廉,何晓峰,韩国良,范颖. 仿生导航技术综述. 导航定位与授时. 2020(04): 1-10 . 百度学术
    20. 于乃功,冯慧,廖诣深,郑相国. 一种基于感知速度与感知角度的网格野计算模型. 生物医学工程学杂志. 2020(05): 863-874 . 百度学术
    21. 晁丽君,熊智,杨闯,华冰,王雅婷,刘建业. 无人飞行器三维类脑SLAM自主导航方法. 飞控与探测. 2020(05): 35-43 . 百度学术
    22. 张孝伍. 图上的概率分布及位置方向信息的表征方法. 青岛理工大学学报. 2019(01): 113-121 . 百度学术
    23. 方略,何洪军. 基于鼠脑海马位置细胞与Q学习面向目标导航. 生物信息学. 2019(01): 31-38 . 百度学术
    24. 王均,凌有铸,王静. 基于特征融合的仿生SLAM算法研究. 安徽工程大学学报. 2019(02): 26-33 . 百度学术
    25. 刘建业,杨闯,熊智,赖际舟,熊骏. 无人机类脑吸引子神经网络导航技术. 导航定位与授时. 2019(05): 52-60 . 百度学术
    26. 韩昆,吴德伟,来磊,杨林. 自主导航条件下网格细胞放电模型. 电子科技大学学报. 2019(05): 711-716 . 百度学术
    27. 丛明,邹强,刘冬,杜宇. 定位细胞认知机理启发的机器人导航研究综述. 机械工程学报. 2019(23): 1-12 . 百度学术
    28. 邹强,丛明,刘冬,杜宇. 仿鼠脑海马的机器人地图构建与路径规划方法. 华中科技大学学报(自然科学版). 2018(12): 83-88 . 百度学术
    29. 吴德伟,何晶,韩昆,李卉. 无人作战平台认知导航及其类脑实现思想. 空军工程大学学报(自然科学版). 2018(06): 33-38 . 百度学术

    其他类型引用(29)

  • 加载中
  • 图(5) / 表(1)
    计量
    • 文章访问数:  2318
    • HTML全文浏览量:  252
    • PDF下载量:  643
    • 被引次数: 58
    出版历程
    • 收稿日期:  2016-12-26
    • 录用日期:  2017-04-07
    • 刊出日期:  2018-12-20

    目录

      /

      返回文章
      返回