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

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (S1): 723775-723775.doi: 10.7527/S1000-6893.2019.23775

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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)

Abstract

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

CLC Number:

V249.121

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

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