摘要
针对含有通信时滞与不确定性的二阶多智能体系统一致性问题,设计了一种分布式自适应控制协议。该协议以相对状态误差的L2范数为基础构建自适应律,并通过在线动态调节控制增益来应对未知参数与外部扰动。基于Lyapunov理论与Barbalat引理,严格证明了在该协议作用下,所有智能体的位置与速度均可实现渐近一致,同时自适应增益最终收敛至有界常数,并推导出了系统的时滞上限。数值仿真结果进一步验证了所提方法的有效性。
A distributed adaptive control protocol is designed to address the uniform consistency problem of second-order multi-agent systems with communication delay and uncertainty.This protocol constructs an adaptive law based on the L2 norm of relative state error,and dynamically adjusts the control gain online to cope with unknown parameters and external disturbances.Based on Lyapunov theory and Barbalat lemma,it is rigorously proved that under the action of this protocol,the positions and velocities of all agents can achieve asymptotic consistency,and the adaptive gain ultimately converges to a bounded constant.The upper limit of the system delay is also derived.The numerical simulation results further validate the effectiveness of the proposed method.
作者
张学亮
汪家瑞
白晶
齐凯
ZHANG Xueliang;WANG Jiarui;BAI Jing;QI Kai(The 54th Research Institute of CETC,Shijiazhuang 050081,China;Xidian University,Xi̓an 710071,China;Hebei Branch,China Communications System Co.,Ltd.,Shijiazhuang 050081,China)
关键词
多智能体系统
一致性问题
自适应控制
时滞
图论
multi-agent systems
consensus problem
adaptive control
time delay
graph theory
作者简介
张学亮(1986-),硕士,高级工程师,研究方向:云计算技术、大数据挖掘分析、信息智能处理。;通信作者:汪家瑞(1994-),本科,工程师,研究方向:异构数据管理、遥感数据服务,E-mail:mengxiangjia9876@163.com。;白晶(1975-),博士,高级工程师,研究方向:航天地面系统、多源信息融合等。;齐凯(1994-),硕士,工程师,研究方向:大数据挖掘分析、信息智能处理。
