通信受限的多智能体系统二分实用一致性

陈世明; 姜根兰; 张正

doi:10.16383/j.aas.c200600

通信受限的多智能体系统二分实用一致性

doi: 10.16383/j.aas.c200600

1.
华东交通大学电气与自动化工程学院南昌 330013

基金项目: 国家自然科学基金(61973118, 11662002, 61763013), 江西省科技厅项目(20182BCB22009)资助

详细信息

作者简介:
陈世明：华东交通大学电气与自动化工程学院教授. 2006年于华中科技大学获得博士学位. 主要研究方向为复杂网络理论及应用, 多智能体系统协同控制和PSO优化算法. 本文通信作者. E-mail: shmchen@ecjtu.jx.cn

姜根兰：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同控制. E-mail: jiang094921@163.com

张正：华东交通大学控制科学与工程专业博士研究生. 2015年获华东交通大学控制科学与工程硕士学位. 主要研究方向为多智能体系统协同控制. E-mail: zhzhang6@163.com

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出版历程
- 收稿日期: 2020-07-29
- 录用日期: 2021-02-09
- 网络出版日期: 2021-03-11
- 刊出日期: 2022-05-13

Bipartite Practical Consensus Control of Multi-agent Systems With Communication Constraints

1.
School of Electrical and Automatic Engineering, East China of Jiaotong University, Nanchang 330013

Funds: Supported by National Natural Science Foundation of China (61973118, 11662002, 61763013), Project in Jiangxi Province Department of Science and Technology (20182BCB22009)

More Information

Author Bio:
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 algorithm. Corresponding author of this paper

JIANG Gen-Lan　Master student at the School of Electrical and Automation Engineering, East China Jiaotong University. Her main research interest is coordination control of multi-agent systems

ZHANG Zheng　Ph. D. candidate in control science and engineering at East China Jiaotong University. She received her master degree in control science and engineering from East China Jiaotong University in 2015. Her main research interest is coordination control of multi-agent systems

摘要

摘要: 针对存在量化数据、通信时滞等通信约束以及带有竞争关系的多智能体系统, 研究其二分实用一致性问题, 提出了一种基于量化器的分布式控制协议. 该协议基于结构平衡拓扑假设, 通过规范变换将具有竞争关系系统转变为具有非负连接权重系统, 使二分实用一致性问题转变为一般实用一致性问题. 利用微分包含理论、菲利波夫解的框架、代数图论以及Lyapunov稳定性理论, 证明了在本文所提控制策略下, 具有竞争关系的多智能体系统能实现二分实用一致, 即智能体状态收敛至模相同但符号不同的可控区间, 并给出了误差收敛上界值. 仿真试验进一步验证了理论结果的有效性.
- 多智能体系统 /
- 符号图 /
- 二分实用一致性 /
- 量化数据 /
- 通信时滞
Abstract: This paper investigates the bipartite practical consensus problem for a multi-agent system subject to quantization and communication delay. The interaction between agents is modeled by a structurally balanced topology, where both cooperation and competition coexist within a group. Based on the quantizer, a novel distributed controller is proposed. Up to a virtue of the gauge transformation, a system with competition interactions is equivalent to a system with non-negative connection weights. Accordingly, the bipartite practical consensus problem is turned into the general practical consensus problem. By employing the theory of differential inclusion, the framework of Filippov solution, Lyapunov stability theory and algebraic graph theory, we prove that all agents can be guaranteed to converge to an interval which is the same for all in modulus but not in sign and obtain the upper bound of convergence error. The simulation results are provided to demonstrate the effectiveness of the theoretical results.
- Multi-agent systems /
- signed graphs /
- bipartite practical consensus /
- quantization /
- time delay

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图 1 拓扑图

Fig. 1 Topological graph

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图 2 $\gamma = 3,$$\eta = 1$智能体位置状态轨迹

Fig. 2 $\gamma = 3,$$\eta = 1$ The trajectories of all agents

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图 3 $\gamma = 1,$$\eta = 1$智能体位置状态轨迹

Fig. 3 $\gamma = 1,$$\eta = 1$ The trajectories of all agents

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图 4 $\gamma = 0.1,$$\eta = 1$智能体位置状态轨迹

Fig. 4 $\gamma = 0.1,$$\eta = 1$ The trajectories of all agents

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图 5 最邻近耦合小世界网络

Fig. 5 Nearest-neighbor coupled network

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图 6 $\gamma = 0.5,$$\eta = 1$智能体位置状态轨迹

Fig. 6 $\gamma = 0.5,$$\eta = 1$ The trajectories of all agents

下载: 全尺寸图片幻灯片

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