[1]张 旺,侯海良.含约束和通信时滞的多智能体系统包含控制[J].计算机技术与发展,2022,32(03):34-39.[doi:10. 3969 / j. issn. 1673-629X. 2022. 03. 006]
　ZHANG Wang,HOU Hai-liang.Containment Control for Sampling Multi-Agent System with Input Constraints and Communication Delays[J].,2022,32(03):34-39.[doi:10. 3969 / j. issn. 1673-629X. 2022. 03. 006]
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含约束和通信时滞的多智能体系统包含控制()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
32
期数:
2022年03期
页码:
34-39
栏目:
人工智能
出版日期:
2022-03-10

文章信息/Info

Title:
Containment Control for Sampling Multi-Agent System with Input Constraints and Communication Delays
文章编号:
1673-629X(2022)03-0034-06
作者:
张 旺; 侯海良
湖南人文科技学院 信息学院,湖南 娄底 417000
Author(s):
ZHANG Wang; HOU Hai-liang
School of Information,Hunan University of Humanities,Science and Technology,Loudi 417000,China
关键词:
多智能体; 包含控制; 采样系统; 输入约束; 通信时滞
Keywords:
multi-agent; containment control; sampled system; input constraints; communication delays
分类号:
TP273;TP18
DOI:
10. 3969 / j. issn. 1673-629X. 2022. 03. 006
摘要:
随着人工智能的发展,包含控制成为近年来研究的热点问题。 为了解决有向切换通信拓扑下含非凸输入约束和通信时滞的采样多智能体系统包含控制问题,设计了一种基于投影的分布式非线性包含控制算法。 该算法只需要利用智能体自身和相邻智能体的交互信息就能实现输入受限跟随者的包含。 首先将跟随者与领导者构成的凸区域的最大距离选定为李雅普诺夫函数,接着引入约束算子描述跟随者的非凸约束,并将系统的非凸模型转化时变线性模型,然后运用李雅普诺夫稳定性理论、凸分析等方法证明了在通信拓扑的并集中只要每个跟随者至少有一条从领导者到该跟随者的有向路径,李亚普诺夫函数就能收敛到 0,也就是带输入约束和通信时滞的跟随者最终能够保留在领导者所形成的凸区域内。最后通过数值仿真证明了所提出的控制算法能够解决输入受限的包含控制问题。
Abstract:
With the development of artificial intelligence,containment control has become a hot topic in recent years. In order to solve the containment control problem of sampled-data multi-agent systems with nonconvex input constraints, communication delays and directed switching topologies,a distributed nonlinear containment control algorithm based? ? ?on projection is designed. The containment control of each follower with input constraint can be achieved by using the information of itself and the local interaction information. Firstly,the maximum distance from the followers to the convex region formed leaders is chosen as the Lyapunov function. A constraint operator is introduced to describe the nonconvex constraint of the follower. The nonconvex system model is transformed into a time-varying linear model. Then,by using Lyapunov stability theory and convex analysis,it is proved that the Lyapunov function converges to 0 as long as each follower has at least one directed path from leaders to it in the union of communication topologies,namely,the followers with input constraints and communication delays can eventually remain in the convex region formed by leaders. Finally,? ?a numerical simulation is given to show that the proposed control algorithm can solve this input-constrained containment control problem.

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更新日期/Last Update: 2022-03-10