離散時間多智能體系統的協調最優預見跟蹤

盧延榮; 廖福成; 任金鳴; 付海龍; 盛超逸

doi:10.13374/j.issn2095-9389.2018.02.015

離散時間多智能體系統的協調最優預見跟蹤

doi: 10.13374/j.issn2095-9389.2018.02.015

北京科技大學數理學院, 北京 100083

基金項目:

國家自然科學基金資助項目（61174209）

詳細信息

中圖分類號: TG142.71
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出版歷程
- 收稿日期: 2017-06-01

Cooperative optimal preview tracking control of discrete-time multi-agent systems

School of Mathematics and Physics, University of Science and Technology Beijing, Beijing 100083, China

摘要

摘要: 在互聯拓撲包含一棵有向生成樹的條件下，研究了離散時間多智能體系統的協調最優預見跟蹤問題.首先利用狀態增廣技術把協調跟蹤問題轉化為一個增廣系統的全局最優調節問題.然后應用離散時間線性二次型調節理論的相關結果給出了使增廣系統的閉環系統漸近穩定的控制器，并由此得到原系統實現跟蹤一致性的全局最優預見控制器.仿真結果不僅驗證了所設計控制器的有效性，并且表明適當增加預見步長對保證準確跟蹤領導者的輸出是至關重要的.
- 多智能體系統 /
- 協調跟蹤 /
- 預見控制 /
- 代數Riccati方程
Abstract: This study investigated the cooperative optimal preview tracking problem of discrete-time multi-agent systems under the assumption of the communication topology containing a directed spanning tree. First, a state augmentation technique was used to convert the cooperative preview tracking problem into a global optimal regulation problem of an augmented system. Second, by resorting to relative conclusions about the discrete-time linear quadratic regulation theory, an optimal controller was obtained, which can guarantee the asymptotic stability of the closed-loop augmented system. Moreover, a global optimal preview controller was provided in order for the original system to achieve the tracking consensus. Finally, the simulation results not only verified the effectiveness of the designed controller, but also indicated that it is critical for accurately tracking the reference signal to moderately increase the preview length.
- multi-agent systems /
- cooperative tracking /
- preview control /
- algebraic Riccati equation

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參考文獻(34)

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