摘要
为实现多智能体网络系统的协调控制,设计了一种新型的带有自适应协调器的控制器.基于动态图建立了多智能体网络系统的模型,并考虑了系统的非线性互联和不可避免存在的时变时滞.应用分布式控制策略,设计了自适应参数估计的协调器,用于调节智能体之间的互联强度,使网络达到稳定的预设水平.并基于Lyapunov-Kra-sovskii泛函和自适应动态偏差反馈控制技术,根据拉萨尔不变集原理证明了偏差控制系统的渐近收敛性.这种控制方法,可在系统参数不确定的情况下,同时完成参数估计和协调控制.所设计的控制律和自适应律简单,易于实现,仿真示例验证了所提方法的有效性.
In this paper,a novel controller with an adaptive coordinator was designed in order to realize coordination control of multi-agent networked systems.First,multi-agent networked systems were modeled based on dynamic graphs while taking into consideration nonlinear interconnection and non-avoidable time-varying delays.Then,applying distribution control policy,a coordinator with adaptive parameter estimation was designed to obtain the desired stable state by adjusting the interconnection level.Asymptotic convergence of the error control system was proved by the Lyapunov-Krasovskii function,adaptive deflection feedback control technology,and La Salle’s invariant set theory.This method can complement parameter estimation and coordination control simultaneously under uncertainty and has the advantages of being simple and easy to complement.A simulation example was given to verify the effectiveness of the proposed method.
出处
《智能系统学报》
北大核心
2012年第3期220-224,共5页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(60874017
61034005)
关键词
多智能体网络系统
协调控制
自适应控制
网络控制
multi-agent networked systems
coordination control
adaptive control
network control
