动态自触发通信下多智能体输出反馈包容控制
Output-feedback containment control for multi-agents under dynamic self-triggered communication
左仁伟 1李颖晖 1吕茂隆 2聂鸿雁3
作者信息
- 1. 空军工程大学航空工程学院,陕西西安 710038
- 2. 空军工程大学空管领航学院,陕西西安 710051
- 3. 中联西北工程设计研究院有限公司,陕西西安 710077
- 折叠
摘要
针对群系统通信网络带宽受限问题,提出一种动态自触发通信下有向高阶非线性多智能体输出反馈包容控制方法.首先,针对群系统通信网络带宽受限问题,提出一种新型动态自触发通信机制.与传统事件触发通信机制相比,所提出的动态自触发通信机制具有更大的触发阈值,且无需连续监测系统状态信息,进一步节省系统通信资源和传感器资源.其次,为所有智能个体设计输出反馈控制协议,驱使所有跟随者收敛到由多个领导者围成的动态凸包中,从而实现网络的多领导者包容控制.最后,以高超声速飞行器群系统为例,验证了控制方法的有效性和理论分析的正确性.
Abstract
Aiming at the limited bandwidth of swarm system commumcation network,an output-feedback containment control method of directed high-order nonlinear multi-agent systems under dynamic self-triggered communication is proposed.Firstly,aiming at the limited bandwidth of swarm system communication network,a novel dynamic self-triggered communication mechanism is proposed.Compared with the traditional event-triggered communication mechanism,the proposed dynamic self-triggered communication mechanism has a larger triggering threshold and does not need to continuously monitor the system state information,which further saves the system communication resources and sensor resources.Secondly,an output-feedback control protocol is devised such that all the followers converge into the convex hull spanned by the leaders,realizing the multi-leaders containment control of the network.Finally,the effectiveness of the control method and the correctness of the theoretical analysis are verified by the hypersonic flight vehicle swarms.
关键词
动态自触发通信/高阶多智能体/包容控制/高超声速飞行器Key words
dynamic self-triggered communication/high-order multi-agent/containment control/hypersonic flight vehicle引用本文复制引用
出版年
2024
NETL
NSTL
万方数据