基于事件触发的异构多智能体最优包含控制

doi:10.7527/S1000-6893.2019.23775

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基于事件触发的异构多智能体最优包含控制

王东^1,2, 王泽华^1,2, 刘洋^1,2, GU Dongbing³, 王伟^1,2

1. 大连理工大学工业装备智能控制与优化教育部重点实验室, 大连 116024;
2. 大连理工大学控制科学与工程学院, 大连 116024;
3. 埃塞克斯大学计算机科学与电子工程学院, 克彻斯特 CO4 3SQ

收稿日期:2019-12-13 修回日期:2019-12-26 出版日期:2020-06-30 发布日期:2020-01-10
通讯作者: 王东 E-mail:dwang@dlut.edu.cn
基金资助:
国家自然科学基金（61973050，61773089）

Event-triggered optimal containment control for heterogeneous multi-agent systems

WANG Dong^1,2, WANG Zehua^1,2, LIU Yang^1,2, GU Dongbing³, WANG Wei^1,2

1. Key Laboratory of Intelligent Control and Optimization for Industrial Equipment, Ministry of Eduction, Dalian University of Technology, Dalian 116024, China;
2. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China;
3. School of Computer Science and Electronic Engineering, University of Essex Wivenhoe Park, Colchester CO4 3SQ, United Kingdom

Received:2019-12-13 Revised:2019-12-26 Online:2020-06-30 Published:2020-01-10
Supported by:
National Natural Science Foundation of China (61973050, 61773089)

摘要/Abstract

摘要： 针对异构多智能体系统的输出包含控制问题，提出一种基于边的事件触发最优控制协议，保证所有跟随者的输出能进入到由领航者的输出所形成的凸包中。同时，使系统达到最优性能，最小化控制代价。考虑到不是所有的跟随者都可获得领航者的信息，提出一种基于边的分布式事件触发观测器，估计领航者输出形成的凸包内点的轨迹。设计加权代价函数评价包含控制的性能，并将输出包含问题转化为最优状态反馈控制设计问题。利用贝尔曼方程和黎卡提方程，给出异构多智能体系统最优输出包含控制的参数设计。选择不同类型的机器人构成多智能体系统，验证算法的有效性。

关键词: 多智能体系统, 最优包含控制, 事件触发控制, 贝尔曼方程, 分布式观测器

Abstract: An edge-based event-triggered optimal control algorithm is proposed to solve the optimal output containment problem of general linear heterogeneous multi-agent systems. The proposed algorithm guarantees that the outputs of all followers enter into the convex hull formed by the outputs of leaders. At the same time, it can also render that the closed-loop system achieves the optimal performance and minimize the cost of control. Considering that the information of the leaders is unavailable to a part of followers, a distributed edge-based event-triggered observer is presented to estimate the trajectory for the interior point in the convex hull. In addition, a weighted performance function is designed to transform the output containment problem into the optimal state-feedback design problem. Based on the proposed function, the Bellman equation and algebraic Riccati equation are derived to solve the optimal output containment control problem of heterogeneous multi-agent systems. Multiple autonomous robots are employed as a group of multi-agent systems to verify the effectiveness of the proposed algorithm.

Key words: multi-agent systems, optimal containment control, event-triggered control, Bellman equation, distributed observe

中图分类号:

V249.121

王东, 王泽华, 刘洋, GU Dongbing, 王伟. 基于事件触发的异构多智能体最优包含控制[J]. 航空学报, 2020, 41(S1): 723775-723775.

WANG Dong, WANG Zehua, LIU Yang, GU Dongbing, WANG Wei. Event-triggered optimal containment control for heterogeneous multi-agent systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723775-723775.

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基于事件触发的异构多智能体最优包含控制

Event-triggered optimal containment control for heterogeneous multi-agent systems

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