摘要
针对有向通信拓扑下的二阶多智能体系统分布式优化问题,提出一种固定时间收敛的分布式控制算法.该算法基于新的分布式估计器设计,通过局部信息交换,使各智能体能够对全局目标函数梯度进行准确估计.在估计器的基础上,为各智能体设计分布式固定收敛时间算法,以确保所有个体在有限时间内收敛于目标函数的最优解.通过运用固定时间收敛理论和不等式缩放技巧,对算法的稳定性进行理论证明,并通过数值仿真实验验证所设计算法的有效性.
This article investigates the distributed optimization problem of second-order multi-agent systems under directed communication topologies,and proposes a distributed control algorithm for fixed-time convergence.The control algorithm is based on a novel distributed estimator design,enabling each intelligent agent to accurately estimate the gradient of the global objective function through local information exchange.Building upon the estimator,a distributed algorithm with fixed convergence time is devised for each intelligent agent,ensuring that all entities converge to the optimal solution of the objective function within a finite time.The stability of the algorithm is theoretically proven using fixed-time convergence theory and inequality scaling techniques,and the effectiveness of the proposed algorithm is demonstrated through numerical simulations.
作者
刘源
刘宁宁
曾显普
LIU Yuan;LIU Ning-ning;ZENG Xian-pu(School of Intelligent Manufacturing,Nanyang Institute of Technology,Nanyang 473004,China)
出处
《控制与决策》
EI
CSCD
北大核心
2024年第11期3866-3872,共7页
Control and Decision
基金
南阳理工学院博士科研启动项目(510076)。
关键词
二阶系统
固定时间收敛
分布式优化
有向通信拓扑
一致性
梯度观测器
second-order systems
fixed-time convergence
distributed optimization
directed communication topology
consensus
gradient observer
作者简介
通讯作者:刘源(1985−),男,讲师,博士,从事多智能体协同控制、分布式优化、自适应控制等研究,E-mail:liuyuan8601@163.com;刘宁宁(1988−),男,助教,硕士,从事机器视觉、鲁棒控制等研究,E-mail:lnbjtu@163.com;曾显普(1995−),男,助教,硕士,从事雷达目标跟踪、多传感器数据融合等研究,E-mail:yyyh66024@163.com.
