单边Lipschitz非线性多智能体系统一致性追踪控制

doi:10.12305/j.issn.1001-506X.2022.01.34

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (1): 279-284.doi: 10.12305/j.issn.1001-506X.2022.01.34

单边Lipschitz非线性多智能体系统一致性追踪控制

罗哲¹, 权婉珍^1,*, 张朴睿², 杨小冈¹

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 国防科技大学航天科学与工程学院, 湖南长沙 410073

收稿日期:2021-01-29 出版日期:2022-01-01 发布日期:2022-01-19
通讯作者: 权婉珍
作者简介:罗哲(1987—), 男, 博士研究生, 主要研究方向为多飞行器协同控制|权婉珍(1991—), 女, 博士研究生, 主要研究方向为多智能体协同控制、无人机编队|张朴睿(1977—), 男, 教授, 博士, 主要研究方向为多飞行器协同制导与控制|杨小冈(1978—), 男, 教授, 博士, 主要研究方向为图像识别与智能化精确制导技术、多智能体协同控制、无人机编队
基金资助:
国家自然科学基金(61867005);国家自然科学基金(61806209);国家自然科学基金(61773387)

Consensus tracking control for one-side Lipschitz nonlinear multi-agent systems

Zhe LUO¹, Wanzhen QUAN^1,*, Purui ZHANG², Xiaogang YANG¹

1. School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China

Received:2021-01-29 Online:2022-01-01 Published:2022-01-19
Contact: Wanzhen QUAN

摘要/Abstract

摘要：

针对单边Lipschitz非线性多智能体系统, 提出了一种分布式一致性控制方法。首先, 构建了领导-跟随者动力学结构, 用于实现单边Lipschitz多智能体系统的追踪控制。然后, 设计了单边Lipschitz非线性多智能体系统的一致性控制协议, 可根据智能体之间局部交互信息构建分布式反馈控制, 并将系统的一致性追踪问题转化为系统的稳定性问题。同时, 利用Laplacian特性、线性矩阵不等式和Lyapunov函数等理论, 给出了单边Lipschitz非线性多智能体系统一致性追踪控制的充分条件。理论结果表明, 所设计的控制协议能够实现一致追踪。最后, 通过仿真算例验证了理论结果的有效性。

关键词: 单边Lipschitz, 非线性多智能体系统, 分布式一致性, 追踪控制

Abstract:

Focused on one-side Lipschitz nonlinear multi-agent systems, a distributed consensus control method is proposed. Firstly, the leader-following dynamic structure is constructed to realize the tracking control of the one-side Lipschitz multi-agent system. Then, an consensus control protocol is designed for the one-side Lipschitz nonlinear multi-agent systems, which can construct distributed feedback control based on the local interaction information between all the agents, and the consensus tracking problem of the system is transformed into the system stability problem. Meanwhile, using Laplacian characteristics, linear matrix inequalities and Lyapunov functions and other theories, the sufficient conditions for consensus tracking control of one-side Lipschitz nonlinear multi-agent systems are obtained. Theoretical results show that the designed controll protocol can achieve consensus tracking. Finally, a simulation example verifies the validity of the theoretical results.

Key words: one-side Lipschitz, nonlinear multi-agent systems, distributed consensus, tracking control

中图分类号:

TP13

罗哲, 权婉珍, 张朴睿, 杨小冈. 单边Lipschitz非线性多智能体系统一致性追踪控制[J]. 系统工程与电子技术, 2022, 44(1): 279-284.

Zhe LUO, Wanzhen QUAN, Purui ZHANG, Xiaogang YANG. Consensus tracking control for one-side Lipschitz nonlinear multi-agent systems[J]. Systems Engineering and Electronics, 2022, 44(1): 279-284.

图/表 5

参考文献 30

1	刘家义, 岳韶华, 王刚, 等. 复杂任务下的多智能体协同进化算法[J]. 系统工程与电子技术, 2021, 43 (4): 991- 1002.
	LIU J Y , YUE S H , WANG G , et al. Cooperative optimization algorithm of multi-agent system under complex tasks[J]. Systems Engineering and Electronics, 2021, 43 (4): 991- 1002.
2	张普, 薛惠锋, 高山, 等. 具有弱通讯的多智能体分布式自适应协同跟踪控制[J]. 系统工程与电子技术, 2021, 43 (2): 487- 498.
	ZHANG P , XUE H F , GAO S , et al. Distributed adaptive cooperative tracking control of multi-agent system with weak communication[J]. Systems Engineering and Electronics, 2021, 43 (2): 487- 498.
3	ZHENG Z , QIAN M S , LI P , et al. Distributed adaptive control for UAV formation with input saturation and actuator fault[J]. IEEE Access, 2019, 7, 144638- 144647. doi: 10.1109/ACCESS.2019.2918384
4	DONG X W , LI Y F , HU G Q , et al. Time-varying formation tracking for UAV swarm systems with switching directed topo-logies[J]. Neurocomputing, 2019, 30 (12): 3674- 3685.
5	MURAYAMA T . Distributed model predictive consensus control for robotic swarm system[J]. Artificial Life and Robotics, 2018, 23, 628- 635. doi: 10.1007/s10015-018-0499-x
6	DERAKHSHAN F , YOUSEFI S . A review on the applications of multiagent systems in wireless sensor networks[J]. International Journal of Distributed Sensor Networks, 2019, doi: 10.1177/1550147719850767
7	ZHOU J L , LU Y Z , LI Z K , et al. Cooperative guidance law design for simultaneous attack with multiple missiles against a maneuvering target[J]. Journal of System Science and Comple-xity, 2018, 31 (1): 287- 301. doi: 10.1007/s11424-018-6317-7
8	ZHANG J , ZHUANG H G , SUN S X , et al. Leader-follower consensus control for linear multi-agent systems by fully distri-buted edge-event-triggered adaptive strategies[J]. Information Sciences, 2021, 555, 314- 338. doi: 10.1016/j.ins.2020.10.056
9	YE Y Y , SU H S . Leader-following consensus of general linear fractional-order multiagent systems with input delay via event-triggered control[J]. International Journal of Robust and Nonlinear Control, 2018, 28 (18): 5717- 5729. doi: 10.1002/rnc.4339
10	WEI B , XIAO F . Distributed consensus control of linear multiagent systems with adaptive nonlinear couplings[J]. IEEE Trans.on Systems Man Cybernetics: Systems, 2021, 51 (2): 1365- 1370. doi: 10.1109/TSMC.2019.2896915
11	ZHAO Y , LIU Y F , WEN G H , et al. Designing distributed specified-time consensus protocols for linear multiagent systems over directed graphs[J]. IEEE Trans.on Automatic Control, 2019, 64 (7): 2945- 2952. doi: 10.1109/TAC.2018.2872534
12	DENG C , YANG G H . Consensus of linear multiagent systems with actuator saturation and external disturbances[J]. IEEE Trans.on Circuits and Systems Ⅱ-Express Briefs, 2017, 64 (3): 284- 288. doi: 10.1109/TCSII.2016.2551549
13	XU X , LIU L , FENG G . Consensus of discrete-time linear multiagent systems with communication, input and output delays[J]. IEEE Trans.on Automatic Control, 2018, 63 (2): 492- 497. doi: 10.1109/TAC.2017.2720703
14	ZHANG H G , DUAN J , WANG Y C , et al. Bipartite fixed-time output consensus of heterogeneous linear multiagent systems[J]. IEEE Trans.on Cybernetic, 2021, 51 (2): 548- 557. doi: 10.1109/TCYB.2019.2936009
15	QUAN W Z , ZHAO Y L , WANG L , et al. Energy-limited time-varying formation control for second order multiagent systems[J]. Complexity, 2020, 8867820.
16	XI J X , WANG C , YANG X J , et al. Limited-budget output consensus for descriptor multiagent systems with energy constraints[J]. IEEE Trans.on Cybernetics, 2020, 50 (11): 4585- 4598. doi: 10.1109/TCYB.2019.2963172
17	TIAN B L , LU H C , ZUO Z Y , et al. Fixed-time leader-follower output feedback consensus for second-order multiagent systems[J]. IEEE Trans.on Cybernetics, 2019, 49 (4): 1545- 1550. doi: 10.1109/TCYB.2018.2794759
18	ZHENG Y S , MA J Y , WANG L . Consensus of hybrid multi-agent systems[J]. IEEE Trans.on Neural Networks and Learning Systems, 2018, 29 (4): 1359- 1365. doi: 10.1109/TNNLS.2017.2651402
19	MA J Y , YE M J , ZHENG Y S , et al. Consensus analysis of hybrid multi-agent systems: a game-theoretic approach[J]. International Journal of Robust and Nonlinear Control, 2019, 29 (6): 1840- 1853. doi: 10.1002/rnc.4462
20	周绍磊, 赵学远, 祁亚辉, 等. 有向切换拓扑条件下考虑暂态响应的多智能体H_∞一致性控制[J]. 兵工学报, 2020, 41 (2): 356- 365.
	ZHOU S L , ZHAO X Y , QI Y H , et al. H_∞ consensus control of multi-agent systems with transient response under directed switching topology[J]. Acta Armamernarii, 2020, 41 (2): 356- 365.
21	FARHANGFAR A , SHOR R J . State observer design for a class of Lipschitz nonlinear system with uncertainties[J]. IFAC- Papers Online, 2020, 53 (1): 283- 288. doi: 10.1016/j.ifacol.2020.06.048
22	EKRAMIAN M . Observer-based controller for Lipschitz nonlinear systems[J]. International Journal of Systems Science, 2017, 48 (16): 3411- 3418. doi: 10.1080/00207721.2017.1381894
23	HE X Y , HAO Y Q , WANG Q Y . Leaderless finite-time consensus for second-order Lipschitz nonlinear multi-agent systems with settling time estimation[J]. Physica A: Statistical Mechanics and its Applications, 2019, 514, 280- 289. doi: 10.1016/j.physa.2018.09.084
24	JIANG X L , XIA G H , FENG Z G , et al. Non-fragile guaranteed-performance H_∞ leader-following consensus of Lipschitz nonlinear multi-agent systems with switching topologies[J]. Nonlinear Analysis Hybrid Systems, 2020, 38, 10913.
25	JIANG X L , XIA G H , FENG Z G . Guaranteed-performance consensus tracking of singular multiagent systems with Lipschitz nonlinear dynamics and switching topologies[J]. International Journal of Robust and Nonlinear Control, 2019, 29 (15): 5227- 5250. doi: 10.1002/rnc.4670
26	赵广社, 张文慧, 高雷涛, 等. 切换拓扑下时变非线性多智能体系统的一致性[J]. 信息与控制, 2020, 49 (6): 641- 648.
	ZHAO G S , ZHANG W H , GAO L T , et al. Consensus of time-varying nonlinear multi-agent systems under switching topologies[J]. Information and Control, 2020, 49 (6): 641- 648.
27	REHMAN A , REHAN M , LQBAL N , et al. LPV scheme for robust adaptive output feedback consensus of Lipschitz multiagents using Lipschitz nonlinear protocol[J]. IEEE Trans.on Systems, Man, and Cybernetics: Systems, 2021, 51 (11): 7040- 7050. doi: 10.1109/TSMC.2020.2964567
28	张科, 韩治国, 郭小红, 等. 航天器姿控系统的PD型学习观测器故障重构[J]. 航空学报, 2017, 38 (6): 198- 206.
	ZHANG K , HAN Z G , GUO X H , et al. PD-type learning observer based fault reconstruction for spacecraft attitude control systems[J]. Chinese Journal of Aeronautics, 2017, 38 (6): 198- 206.
29	LASHARI M A, ZIA Q, REHAN M. Stabilization and tracking control for a class of discrete-time nonlinear systems[C]//Proc. of the International Bhurban Conference on Applied Sciences and Technology, 2015: 152-156.
30	CHU H J , LIU X C , ZHANG W D , et al. Observer-based consensus tracking of multi-agent system with one-sided Lipschitz nonlinearity[J]. Journal of the Franklin Institute, 2016, 353 (7): 1594- 1561. doi: 10.1016/j.jfranklin.2015.10.011

单边Lipschitz非线性多智能体系统一致性追踪控制

Consensus tracking control for one-side Lipschitz nonlinear multi-agent systems

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 5

参考文献 30

相关文章 1

编辑推荐

Metrics

本文评价