[1]冯元珍,徐胜元,苗国英.带动态领导者的一类多智能体系统跟踪控制[J].南京理工大学学报(自然科学版),2013,37(03):22.
 Feng Yuanzhen,Xu Shengyuan,Miao Guoying.Tracking control for multi-agent systems with active leader[J].Journal of Nanjing University of Science and Technology,2013,37(03):22.
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带动态领导者的一类多智能体系统跟踪控制
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年03期
页码:
22
栏目:
出版日期:
2013-06-30

文章信息/Info

Title:
Tracking control for multi-agent systems with active leader
作者:
冯元珍12徐胜元1苗国英1
1.南京理工大学 自动化学院,江苏 南京 210094; 2.南京人口管理干部学院 基础部,江苏 南京 210042
Author(s):
Feng Yuanzhen12Xu Shengyuan1Miao Guoying1
1.School of Automation,NUST,Nanjing 210094,China; 2.Department of Basic Science,Nanjing College for Population Program Management,Nanjing 210042,China
关键词:
动态领导者 多智能体系统 跟踪控制 Lyapunov函数 有向拓扑
Keywords:
active leader multi-agent systems tracking control Lyapunov function directed topology
分类号:
TP13
摘要:
为降低保守性,该文分别在固定和切换有向拓扑结构下,研究了带动态领导者的一类多智能体系统的跟踪控制问题。基于近邻居控制算法及构造状态观测器实现跟踪控制。采用参数相关的Lyapunov函数,在固定及切换有向拓扑结构下,当领导者的加速信息未知时,给出了实现跟踪控制的充分条件及跟踪误差的上界; 在固定拓扑结构下,当领导者的加速信息已知时,给出了实现跟踪控制的充要条件。数值算例验证了相关结论的有效性。
Abstract:
To reduce the conservativeness,the tracking control problems for a class of multi-agent systems with an active leader are considered when the directed topologies are fixed and switching respectively.Nearest-neighbor based control law is proposed and state observer is constructed to realize tracking control.In both fixed and switching cases,by using parameter-dependent Lyapunov functions,sufficient conditions are derived for realizing tracking control and upper bounds of tracking errors are estimated when the acceleration information of the leader is unknown.For the case of fixed topology,necessary and sufficient conditions are given when the acceleration information of the leader is known.Numerical examples demonstrate the effectiveness of relevant results.

参考文献/References:

[1] 袁德明,徐胜元,赵环宇,等.分布式多自主体优化问题中的概率量化影响研究[J].南京理工大学学报,2011,35(2):209-212.Yuan Deming,Xu
Shengyuan,Zhaohuanyu,et al.Effects of probabilistic quantization on distributed multi-agent optimization problem[J].Journal of Nanjing University of Science and Technology,2011,35(2):209-212.
[2]Hong Yiguang,Hu Jiangping,Gao Lixin.Tracking control for multi-agent consensus with an active leader and variable topology[J].Automatica,2006,42(7):1177-1182.
[3]Wang Jinhuan,Hu Jiangping,Hong Yiguang,et al.Consensus of multi-agent systems with active leader and time delay[J].Journal of the Graduate School of the Chinese Academy of Sciences,2008,25(3):320-328.
[4]Hu Jiangping,Hong Yiguang.Leader-following coordina-tion of multi-agent systems with coupling time delays[J].Physica A,2007,374(2):853-863.
[5]Yang Zhengquan,Liu Zhongxin,Chen Zengqiang,et al.Tracking control for multi-agent consensus with an active leader and directed topology[A].Proceedings of the 7th World Congress on Intelligent Control and Automation[C].Chongqing,China:IEEE,2008:1037-1041.
[6]杨洪勇,田生文,张嗣瀛.具有领航者的时延多智能体系统的一致性[J].电子学报,2011,39(4):872-876.
Yang Hongyong,Tian Shengwen,Zhang Siying.Consensus of multi-agent systems with heterogeneous delays and leader-following[J].Acta Electronica Sinica,2011,39(4):872-876.
[7]Yan Huijuan,Gao Lixin.Leader-following consensus of multi-agent systems with and without time-delay[A].Proceedings of the 8th World Congress on Intelligent Control and Automation[C].Jinan,China:IEEE,2010:4342-4347.
[8]Tan Chong,Duan Guangren,Liu Guoping.Leader-following consensus problem of multi-agent networks based on homogeneous polynomial Lyapunov functions[A].Proceedings of the 29th Chinese Control Conference[C].Beijing,China:IEEE,2010:5747-5752.

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备注/Memo

备注/Memo:
收稿日期:2011-12-16 修回日期:2012-06-25
基金项目:教育部高等学校博士学科点专项科研基金(20113219110026)
作者简介:冯元珍(1981-),女,博士生,讲师,主要研究方向:多智能体系统一致性,E-mail:feng_yuanzhen@hotmail.com; 通讯作者:徐胜元(1968-),男,教授,博士生导师,主要研究方向:广义系统、时滞系统和鲁棒控制,E-mail:syxu02@yahoo.com.cn。
更新日期/Last Update: 2013-03-25