执行器饱和的多智能体一致性控制

郜晨; 何潇

doi:10.7527/S1000-6893.2019.23760

航空学报 >

2020 , Vol. 41 >Issue S1: 723760 - 723760

DOI: https://doi.org/10.7527/S1000-6893.2019.23760

执行器饱和的多智能体一致性控制

郜晨 ,
何潇

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1. 清华大学自动化系, 北京 100084;
2. 北京信息科学与技术国家研究中心(BNRist), 北京 100084

收稿日期: 2019-11-14

修回日期: 2019-11-28

网络出版日期: 2019-12-26

基金资助

国家自然科学基金（61733009）；国家重点研发计划（2017YFA0700300）

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Consensus control for multi-agent systems subject to actuator saturations

GAO Chen ,
HE Xiao

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1. Department of Automation, Tsinghua University, Beijing 100084, China;
2. Beijing National Research Center for Information Science and Technology(BNRist), Beijing 100084, China

Received date: 2019-11-14

Revised date: 2019-11-28

Online published: 2019-12-26

Supported by

National Natural Science Foundation of China (61733009); National Key Research and Development Program of China (2017YFA0700300)

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摘要

针对执行器饱和约束下的一类离散多智能体系统，设计了一种基于线性矩阵不等式的一致性控制律，并对线性矩阵不等式解的存在性进行了分析。由于饱和环节的影响，导致多智能体系统的一致性与个体的初始状态有关，不同的控制律所能允许的个体之间的初始偏差的范围不同。为了定量分析控制律所对应的初始偏差范围，引入吸引域的概念对所设计的控制律进行评估，并对控制律参数进行优化以扩大吸引域的范围。最后，通过数值仿真说明了所设计控制律的有效性。

关键词： 多智能体; 执行器饱和; 吸引域; 一致性控制; 离散系统

本文引用格式

郜晨 , 何潇 . 执行器饱和的多智能体一致性控制[J]. 航空学报, 2020 , 41(S1) : 723760 -723760 . DOI: 10.7527/S1000-6893.2019.23760

Abstract

Targeting at a class of discrete Multi-Agent Systems (MASs) subject to actuator saturations, a novel consensus controller based on Linear Matrix Inequalities (LMIs) is proposed and the existence of the solution for the LMI is examined. Due to the actuator saturation, the consensus control problem of MASs is related to the initial states of agents. Different controllers may tolerate different ranges of initial states. In order to quantitatively analyze the effects caused by the range of initial states, this paper introduces the concept of Domain of Attraction (DOA) to evaluate the controllers and, subsequently, the controller parameters are optimized to enlarge the DOA. Finally, simulation examples are provided to illustrate the effectiveness of the proposed controller.

Key words： multi-agent system; actuator saturation; domain of attraction; consensus control; discrete system

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