您的位置：山东大学 -> 科技期刊社 -> 《山东大学学报（理学版）》

《山东大学学报(理学版)》 ›› 2023, Vol. 58 ›› Issue (12): 167-176.doi: 10.6040/j.issn.1671-9352.0.2022.310

•   • 上一篇    

高阶时滞多智能体系统的固定时间一致性控制

邱进鹏1,2(),李宗刚1,2,*(),陈引娟1,2,杜亚江1,2   

  1. 1. 兰州交通大学机电工程学院, 甘肃 兰州 730070
    2. 兰州交通大学机器人研究所, 甘肃 兰州 730070
  • 收稿日期:2022-05-30 出版日期:2023-12-20 发布日期:2023-12-19
  • 通讯作者: 李宗刚 E-mail:1264505570@qq.com;lizongg@126.com
  • 作者简介:邱进鹏(1993—), 男, 硕士研究生, 研究方向为多智能体系统一致性控制. E-mail: 1264505570@qq.com
  • 基金资助:
    兰州交通大学“百人计划”资助项目(1520220305);甘肃省教育厅优秀研究生“创新之星”项目(2022CXZX-574)

Fixed-time consensus control for high-order multi-agent systems with input delay

Jinpeng QIU1,2(),Zonggang LI1,2,*(),Yinjuan CHEN1,2,Yajiang DU1,2   

  1. 1. School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
    2. Institute of Robotics, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
  • Received:2022-05-30 Online:2023-12-20 Published:2023-12-19
  • Contact: Zonggang LI E-mail:1264505570@qq.com;lizongg@126.com

RichHTML

6

PDF (PC)

93

摘要：

为了研究输入滞后和外部干扰影响下的多智能体系统的固定时间一致性控制问题, 提出基于Pade近似一致性误差的领导跟随一致性控制方法。首先, 为跟随者设计分布式观测器以获得领导者的状态信息; 其次, 利用Pade近似方法, 引入时滞虚拟变量, 将时滞一致性误差转化为无时滞一致性误差, 并基于动态增益控制方法设计系统的分布式动态控制协议, 利用固定时间稳定性理论得到系统实现固定时间一致性的充分条件和收敛时间的上界; 最后, 通过仿真实验验证理论结果的正确性。

关键词: 高阶多智能体系统, 领导跟随一致性, 固定时间控制, 输入滞后

Abstract:

To study the fixed-time consensus control problem of multi-agent system under the influence of input delay and external interference, a leader-following consensus control method based on Pade approximate consensus error is proposed. Firstly, a distributed observer is designed for followers to obtain leader's state information. Secondly, by using the Pade approximation method and introducing the delay dummy variable, the delay consensus error is transformed into the delay-free consensus error, and the distributed dynamic control protocol is designed based on the dynamic gain control method. By using the fixed-time stability theory, the sufficient conditions for the system to achieve fixed-time consensus and the upper bound of convergence time are obtained. Finally, the correctness of the theoretical results is verified by simulation experiments.

Key words: high-order multi-agent system, leader-following consensus, fixed-time control, input delay

中图分类号: 

  • TP13

图1

信息交互拓扑图"

图2

观测误差轨迹图"

图3

一致性误差轨迹图"

图4

动态参数轨迹图"

1 胡鸿翔, 梁锦, 温广辉, 等. 多智能体系统的群集行为研究综述[J]. 南京信息工程大学学报(自然科学版), 2018, 10 (4): 415- 421.
HU Hongxiang , LIANG Jin , WEN Guanghui , et al. A survey of development on swarming behavior for multi-agent systems[J]. Journal of Nanjing University of Information Science & Technology (Natural Science Edition), 2018, 10 (4): 415- 421.
2 WEN L C , LIU Y , LI H L . CL-MAPF: multi-agent path finding for car-like robots with kinematic and spatiotemporal constraints[J]. Robotics and Autonomous Systems, 2022, 150, 103997.
doi: 10.1016/j.robot.2021.103997
3 MUNTEAN M V . Multi-agent system for intelligent urban traffic management using wireless sensor networks data[J]. Sensors, 2022, 22 (1): 208.
4 吕冬翔, 张志成, 朱立宏, 等. 基于多智能体的太阳能无人机能源控制[J]. 控制与决策, 2023, 38 (2): 372- 378.
LYU Dongxiang , ZHANG Zhicheng , ZHU Lihong , et al. Multi-agent based energy control for solar unmanned aerial vehicles[J]. Control and Decision, 2023, 38 (2): 372- 378.
5 HU Q L , SHAO X D , GUO L . Adaptive fault-tolerant attitude tracking control of spacecraft with prescribed performance[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23 (1): 331- 341.
doi: 10.1109/TMECH.2017.2775626
6 郁鹏飞, 傅勤. 一阶双曲型偏微分多智能体系统的迭代学习控制[J]. 中国科技论文, 2019, 14 (11): 1185- 1191.
YU Pengfei , FU Qin . Iterative learning control for first-order hyperbolic partial differential multi-agent systems[J]. Chinese Scientific Papers, 2019, 14 (11): 1185- 1191.
7 HUANG D , JIANG H J , YU Z Y , et al. Cluster-delay consensus in multi-agent systems via pinning leader-following approach with intermittent effect[J]. International Journal of Control, 2018, 91 (10): 2261- 2272.
doi: 10.1080/00207179.2017.1338358
8 都海波, 陈维乐. 基于非光滑采样控制算法的二阶有向多智能体系统的一致性[J]. 控制与决策, 2022, 37 (11): 2897- 2906.
DU Haibo , CHEN Weile . Consensus of second-order directed multi-agent system based on non-smooth sampled-data control algorithm[J]. Control and Decision, 2022, 37 (11): 2897- 2906.
9 YU Z Y , JIANG H J , HU C . Second-order consensus for multiagent systems via intermittent sampled data control[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, 48 (11): 1986- 2002.
doi: 10.1109/TSMC.2017.2687944
10 徐君, 张国良, 曾静, 等. 具有时延和切换拓扑的高阶离散时间多智能体系统鲁棒保性能一致性[J]. 自动化学报, 2019, 45 (2): 360- 373.
XU Jun , ZHANG Guoliang , ZENG Jing , et al. Robust guaranteed cost consensus for high-order discrete-time multi-agent systems with switching topologies and time delays[J]. Acta Automatica Sinica, 2019, 45 (2): 360- 373.
11 WU Z G , XU Y , LU R Q , et al. Event-triggered control for consensus of multi-agent systems with fixed/switching topologies[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, 48 (10): 1736- 1746.
doi: 10.1109/TSMC.2017.2744671
12 王亚军, 张申, 胡青松, 等. 具有测量噪声的时滞多智能体系统的一致性问题[J]. 山东大学学报(理学版), 2017, 52 (1): 74- 80.
WANG Yajun , ZHANG Shen , HU Qingsong , et al. Consensus problem of time-delayed multi-agent system with measurement noise[J]. Journal of Shandong University (Natural Science), 2017, 52 (1): 74- 80.
13 周托, 刘全利, 王东, 等. 积分事件触发策略下的线性多智能体系统领导跟随一致性[J]. 控制与决策, 2022, 37 (5): 1258- 1266.
ZHOU Tuo , LIU Quanli , WANG Dong , et al. Leader-following consensus for linear multi-agent systems based on integral-type event-triggered strategy[J]. Control and Decision, 2022, 37 (5): 1258- 1266.
14 OLFATI-SABER R , MURRAY R M . Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49 (9): 1520- 1533.
doi: 10.1109/TAC.2004.834113
15 ZHANG L L , CHEN B , LIN C , et al. Fuzzy adaptive finite-time consensus tracking control for nonlinear multi-agent systems[J]. International Journal of Systems Science, 2021, 52 (7): 1346- 1358.
doi: 10.1080/00207721.2020.1856450
16 ZOU W C , SHI P , XIANG Z R , et al. Finite-time consensus of second-order switched nonlinear multi-agent systems[J]. IEEE Transactions on Neural Networks and Learning Systems, 2021, 31 (5): 1757- 1762.
17 LI K , HUA C C , YOU X , et al. Finite-time observer-based leader-following consensus for nonlinear multi-agent systems with input delays[J]. IEEE Transactions on Cybernetics, 2020, 51 (12): 5850- 5858.
18 POLYAKOV A E . Nonlinear feedback design for fixed-time stabilization of linear control systems[J]. IEEE Transactions on Automatic Control, 2012, 57 (8): 2106- 2110.
doi: 10.1109/TAC.2011.2179869
19 PARSEGOV S E , POLYAKOV A E , SHCHERBAKOV P S . Fixed-time consensus algorithm for multi-agent systems with integrator dynamics[J]. IFAC Proceedings Volumes, 2013, 46 (27): 110- 115.
doi: 10.3182/20130925-2-DE-4044.00055
20 SUN F L , LIU P Y , LI H , et al. Fixed-time consensus of heterogeneous multi-agent systems based on distributed observer[J]. International Journal of Systems Science, 2021, 52 (9): 1780- 1789.
doi: 10.1080/00207721.2020.1871105
21 TIAN B L , LU H C , ZUO Z Y , et al. Fixed-time leader-follower output feedback consensus for second-order multiagent systems[J]. IEEE Transactions on Cybernetics, 2019, 49 (4): 1545- 1550.
doi: 10.1109/TCYB.2018.2794759
22 LIU Y , YANG G H . Distributed fixed-time consensus for multiagent systems with unknown control directions[J]. International Journal of Robust and Nonlinear Control, 2019, 29 (11): 3311- 3329.
doi: 10.1002/rnc.4554
23 YOU X , HUA C C , LI K , et al. Fixed-time leader-following consensus for high-order time-varying nonlinear multiagent systems[J]. IEEE Transactions on Automatic Control, 2020, 65 (12): 5510- 5516.
doi: 10.1109/TAC.2020.3005154
24 WANG C Y , WEN G G , PENG Z X , et al. Integral sliding-mode fixed-time consensus tracking for second-order non-linear and time delay multi-agent systems[J]. Journal of the Franklin Institute, 2019, 356 (6): 3692- 3710.
doi: 10.1016/j.jfranklin.2019.01.047
25 ZUO Z Y , HAN Q L , NING B D , et al. An overview of recent advances in fixed-time cooperative control of multiagent systems[J]. IEEE Transactions on Industrial Informatics, 2018, 14 (6): 2322- 2334.
doi: 10.1109/TII.2018.2817248
26 ZHANG X F , FENG G , SUN Y H . Finite-time stabilization by state feedback control for a class of time-varying nonlinear systems[J]. Automatica, 2012, 48 (3): 499- 504.
doi: 10.1016/j.automatica.2011.07.014
27 KHANESAR M A , KAYNAK O , YIN S , et al. Adaptive indirect fuzzy sliding mode controller for networked control systems subject to time-varying network induced time delay[J]. IEEE Transactions on Fuzzy Systems, 2014, 23 (1): 205- 214.
[1] 吴晨,金英花,王世丽. 等级制度下带有白噪声的群集运动[J]. 《山东大学学报(理学版)》, 2018, 53(12): 114-119.
[2] 鞠培军,王伟. 多输入多输出线性系统的时滞界问题[J]. 山东大学学报（理学版）, 2017, 52(11): 60-64.
[3] 高荣,张焕水. 离散时间多输入时滞随机系统的镇定性[J]. 山东大学学报（理学版）, 2017, 52(4): 105-110.
[4] 王亚军,张申,胡青松,刘峰,张玉婷. 具有测量噪声的时滞多智能体系统的一致性问题[J]. 山东大学学报（理学版）, 2017, 52(1): 74-80.
[5] 谭成,张焕水. 具有输入时滞的离散时间随机系统Lyapunov镇定性条件[J]. 山东大学学报（理学版）, 2016, 51(5): 114-120.
[6] 李琳, 张焕水. 离散时间多输入时滞系统的镇定性问题[J]. 山东大学学报（理学版）, 2015, 50(11): 91-97.
[7] 吕淑玲1,侍红军2,刘峰2. 主从多智能体网络快速随机一致性[J]. 山东大学学报（理学版）, 2014, 49(1): 65-70.
[8] . 具有时滞的不确定离散脉冲切换系统的保性能控制问题研究[J]. J4, 2009, 44(5): 56-61.
[9] 张 卫,鞠培军 . 含未知输入的Lipschitz非线性广义系统的观测器设计[J]. J4, 2006, 41(2): 85-88 .
[10] 陈 莉 . 不确定奇异系统的鲁棒故障诊断滤波器设计[J]. J4, 2007, 42(7): 62-65 .
[11] 陈 莉, . 非方广义系统带干扰抑制的奇异LQ次优控制问题[J]. J4, 2006, 41(2): 74-77 .
[12] 黄玉林,张维海,李庆华 . 一类非线性随机不确定系统的鲁棒滤波[J]. J4, 2006, 41(2): 78-84 .
[13] 陈　莉, . 奇异系统基于状态观测器的鲁棒故障诊断残差产生器设计的LMI方法[J]. J4, 2007, 42(1): 24-27 .
[14] 钱承山,吴庆宪,姜长生,方 炜 . 一类非线性不确定时滞系统的多模型切换H∞跟踪控制[J]. J4, 2007, 42(12): 49-54 .
[15] . 有观测时滞线性系统的白噪声最优估计[J]. J4, 2009, 44(6): 63-68.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] 杨军. 金属基纳米材料表征和纳米结构调控[J]. 山东大学学报（理学版）, 2013, 48(1): 1 -22 .
[2] 何海伦， 陈秀兰*. 变性剂和缓冲系统对适冷蛋白酶MCP-01和中温蛋白酶BP-01构象影响的圆二色光谱分析何海伦， 陈秀兰*[J]. 山东大学学报（理学版）, 2013, 48(1): 23 -29 .
[3] 赵君1,赵晶2,樊廷俊1*,袁文鹏1,3,张铮1,丛日山1. 水溶性海星皂苷的分离纯化及其抗肿瘤活性研究[J]. J4, 2013, 48(1): 30 -35 .
[4] 孙小婷1,靳岚2*. DOSY在寡糖混合物分析中的应用[J]. J4, 2013, 48(1): 43 -45 .
[5] 罗斯特,卢丽倩,崔若飞,周伟伟,李增勇*. Monte-Carlo仿真酒精特征波长光子在皮肤中的传输规律及光纤探头设计[J]. J4, 2013, 48(1): 46 -50 .
[6] 杨伦，徐正刚，王慧*，陈其美，陈伟，胡艳霞，石元，祝洪磊，曾勇庆*. RNA干扰沉默PID1基因在C2C12细胞中表达的研究[J]. J4, 2013, 48(1): 36 -42 .
[7] 冒爱琴1, 2, 杨明君2, 3, 俞海云2, 张品1, 潘仁明1*. 五氟乙烷灭火剂高温热解机理研究[J]. J4, 2013, 48(1): 51 -55 .
[8] 杨莹,江龙*,索新丽. 容度空间上保费泛函的Choquet积分表示及相关性质[J]. J4, 2013, 48(1): 78 -82 .
[9] 李永明1, 丁立旺2. PA误差下半参数回归模型估计的r-阶矩相合[J]. J4, 2013, 48(1): 83 -88 .
[10] 董伟伟. 一种具有独立子系统的决策单元DEA排序新方法[J]. J4, 2013, 48(1): 89 -92 .
版权所有 © 2018 《山东大学学报(理学版)》编辑部　
地址: 山东省济南市山大南路27号山东大学中心校区（250100）　电话: +86-0531-88366917　E-mail: xblxb@sdu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发