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

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

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.

参考文献 23

[1]	DUSAN T. Transport modeling by multi-agent systems:a swarm intelligence approach[J]. Transportation Planning and Technology, 2003, 26(4):289-312.
[2]	ZHAO Q L, DONG X W, LIANG Z X, et al. Distributed cooperative guidance for multiple missiles with fixed and switching communication topologies[J]. Chinese Journal of Aeronautics, 2017, 30(4):1570-1581.
[3]	陈旿, 张鑫, 金鑫, 等. 一种多智能体协同信息一致性算法[J]. 航空学报, 2017, 38(12):321222. CHEN W, ZHANG X, JIN X, et al. A cooperative information consensus algorithm for multi-agent system[J]. Acta Aeronautics et Astronautica Sinica, 2017, 38(12):321222(in Chinese).
[4]	KIM H, SHIM H, SEO J H. Output consensus of heterogeneous uncertain linear multi-agent systems[J]. IEEE Transactions on Automatic Control, 2010, 56(1):200-206.
[5]	周绍磊, 祁亚辉, 张雷, 等. 切换拓扑下无人机集群系统时变编队控制[J]. 航空学报, 2017, 38(4):320452. ZHOU S L, QI Y H, ZHANG L, et al. Time-varying formation control of UAV swarm systems with switching topologies[J]. Acta Aeronautics et Astronautica Sinica, 2017, 38(4):320452(in Chinese).
[6]	JIANG F C, WANG L, JIA Y M. Consensus in leaderless networks of high-order-integrator agents[C]//American Control Conference,2009:4458-4463.
[7]	MEI J, ZHANG H B, MA G F. Adaptive coordinated tracking for networked Euler-Lagrange systems under a directed graph[J]. Acta Automatica Sinica, 2011, 37(5):596-603.
[8]	DONG X W, SHI Z Y, LU G, et al. Formation-containment analysis and design for high-order linear time-invariant swarm systems[J]. International Journal of Robust and Nonlinear Control, 2015, 25(17):3439-3456.
[9]	NOTARSTEFANO G, EGERSTEDT M, HAQUE M. Containment in leader-follower networks with switching communication topologies[J]. Automatica, 2011, 47(5):1035-1040.
[10]	LI J, GUAN Z H, LIAO R Q, et al. Impulsive containment control for second-order networked multi-agent systems with sampled information[J]. Nonlinear Analysis:Hybrid Systems, 2014, 12:93-103.
[11]	TABUADA P. Event-triggered real-time scheduling of stabilizing control tasks[J]. IEEE Transactions on Automatic Control, 2007, 52(9):1680-1685.
[12]	DIMAROGONAS D V, FRAZZOLI E, JOHANSSON K H. Distributed event-triggered control for multi-agent systems[J]. IEEE Transactions on Automatic Control, 2011, 57(5):1291-1297.
[13]	FAN Y, FENG G, WANG Y, et al. Distributed event-triggered control of multi-agent systems with combinational measurements[J]. Automatica, 2013, 49(2):671-675.
[14]	WANG L C, WANG Z D, HUANG T W, et al. An event-triggered approach to state estimation for a class of complex networks with mixed time delays and nonlinearities[J]. IEEE Transactions on Cybernetics, 2015, 46(11):2497-2508.
[15]	HU W F, LIU L, FENG G. Output consensus of heterogeneous linear multi-agent systems by distributed event-triggered/self-triggered strategy[J]. IEEE Transactions on Cybernetics, 2016, 47(8):1914-1924.
[16]	MOLIN A, HIRCHE S. Suboptimal event-triggered control for networked control systems[J]. ZAMM-Journal of Applied Mathematics and Mechanics, 2014, 94(4):277-289.
[17]	WANG J, MOUNIER H, CELA A, et al. Event driven intelligent PID controllers with applications to motion control[J]. IFAC Proceedings Volumes, 2011, 44(1):10080-10085.
[18]	SAHOO A, XU H, JAGANNATHAN S. Approximate optimal control of affine nonlinear continuous-time systems using event-sampled neuro-dynamic programming[J]. IEEE Transactions on Neural Networks and Learning Systems, 2016, 28(3):639-652.
[19]	VAMVOUDAKIS K G, FERRAZ H. Model-free event-triggered control algorithm for continuous-time linear systems with optimal performance[J]. Automatica, 2018, 87:412-420.
[20]	LIU K E, JI Z J, XIE G M, et al. Event-based broadcasting containment control for multi-agent systems under directed topology[J]. International Journal of Control, 2016, 89(11):2360-2370.
[21]	LEWIS F L, ZHANG H W, HENGSTER M K, et al. Cooperative control of multi-agent systems:optimal and adaptive design approaches[M]. Springer Science & Business Media, 2013.
[22]	HAGHSHENAS H, BADAMCHIZADEH M A, BARADARANNIA M. Containment control of heterogeneous linear multi-agent systems[J]. Automatica, 2015, 54:210-216.
[23]	NARASIMHAN M, SINGH S N. Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins[J]. Ocean Engineering, 2006, 33(3-4):404-416.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

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

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献 23

相关文章 6

编辑推荐

Metrics

本文评价

[1]	叶结松, 龚柏春, 李爽, 都延丽, 郝明瑞. 基于相对方位信息和单间距测量的多智能体编队协同控制[J]. 航空学报, 2021, 42(7): 324610-324610.
[2]	李国飞, 朱国梁, 吕金虎, 刘克新, 武春风. 主-从多飞行器三维分布式协同制导方法[J]. 航空学报, 2021, 42(11): 524926-524926.
[3]	闫实, 吴修振, 王帅磊, 李瑞涛. 有向切换拓扑下非线性多智能体系统的一致性控制[J]. 航空学报, 2020, 41(S2): 724295-724295.
[4]	田磊, 赵启伦, 董希旺, 李清东, 任章. 异构多智能体系统分组输出时变编队跟踪控制[J]. 航空学报, 2020, 41(7): 323727-323727.
[5]	陈军, 张新伟, 徐嘉, 高晓光. 有人/无人机混合编队有限干预式协同决策[J]. 航空学报, 2015, 36(11): 3652-3665.
[6]	李军, 李军, 钟志农, 景宁, 胡卫东. 异构MAS结构下的空天资源多阶段协同任务规划方法[J]. 航空学报, 2013, 34(7): 1682-1697.