首页|改进动态事件触发下基于麻雀搜索联合设计算法的多智能体缩放编队控制

改进动态事件触发下基于麻雀搜索联合设计算法的多智能体缩放编队控制

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本文考虑固定和切换拓扑下的多智能体系统缩放编队控制问题.首先,提出一种改进的基于采样的包含动态辅助变量的弹性动态事件触发机制.在该机制中,引入一个服从伯努利分布的随机变量来表达通信网络的空闲和繁忙情况.同时,将绝对值运算引入触发条件,以有效减小编队误差.然后,基于所提机制,在固定和切换拓扑下设计一个缩放编队控制协议.缩放编队误差系统被建模为一个时变时滞系统.通过构建适当的Lyapunov-Krasovskii泛函,导出编队误差系统稳定的充分条件.提出一种基于麻雀搜索算法的联合设计算法,用于联合设计控制增益和触发参数.最后,通过多无人机仿真实验平台,对所设计控制方法的有效性进行了数值验证.
Modified dynamic event-triggered scaled formation control for multi-agent systems via a sparrow search algorithm based co-design algorithm
This paper is concerned with the scaled formation control problem for multi-agent systems(MASs)over fixed and switching topologies.First,a modified resilient dynamic event-triggered(DET)mechanism involving an auxiliary dynamic variable(ADV)based on sampled data is proposed.In the proposed DET mechanism,a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks.Meanwhile,the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error.Second,a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies.The scaled formation error system is modeled as a time-varying delay system.Then,several sufficient stability criteria are derived by constructing appropriate Lyapunov-Krasovskii functionals(LKFs).A co-design algorithm based on the sparrow search algorithm(SSA)is presented to design the control gains and triggering parameters jointly.Finally,numerical simulations of multiple unmanned aerial vehicles(UAVs)are presented to validate the designed control method.

Scaled consensusFormation controlDynamic event-triggered schemeSwitching topology

杨艳萍、马思羽、李大威、索婧慧

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东华大学信息科学与技术学院,中国 上海市,201620

东华大学数字化纺织服装技术教育部工程研究中心,中国 上海市,201620

东华大学信息科学与技术学院纤维材料改性国家重点实验室,中国 上海市,201620

缩放一致性 编队控制 动态事件触发机制 切换拓扑

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaShanghai Rising-Star ProgramNatural science Foundation of Shanghai,China

621030976180308121QA140010020ZR1400800

2024

10.1631/FITEE.2300615

信息与电子工程前沿(英文)
浙江大学

信息与电子工程前沿(英文)

CSTPCD
影响因子：0.371
ISSN：2095-9184
年,卷(期)：2024.25(2)
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