异构多智能体系统的事件触发分布式跨维度编队控制
Event-triggered distributed cross-dimensional formation control for heterogeneous multi-agent systems
魏惠敏 1彭晨 1赵敏2
作者信息
- 1. 上海大学机电工程与自动化学院,中国 上海市,200444
- 2. 南通大学数学与统计学院,中国 南通市,226019
- 折叠
摘要
本文研究受有限资源限制异构多智能体系统的事件触发分布式跨维度编队控制问题.中心任务是设计一个有效编队控制方案,即使在通讯受限情况下也能实现预期编队控制目标.因此,首先建立一个多维异构多智能体系统,根据智能体维度对它们进行分组.其次,为减少通信资源的过度消耗,设计一种跨维度事件触发通信方案,减少智能体之间信息交流.在设计的通信机制下,将异构多智能体编队控制问题转化为闭环误差系统渐近稳定性问题.然后,在不同维数追随者之间无通信条件下,给出设计跨维度编队控制和通信协议的准则.最后,通过一个仿真实例验证所设计编队控制协议的有效性.
Abstract
This paper concerns the event-triggered distributed cross-dimensional formation control problem of heterogeneous multi-agent systems(HMASs)subject to limited network resources.The central aim is to design an effective distributed formation control scheme that will achieve the desired formation control objectives even in the presence of restricted communication.Consequently,a multi-dimensional HMAS is first developed,where a group of agents are assigned to several subgroups based on their dimensions.Then,to mitigate the excessive consumption of communication resources,a cross-dimensional event-triggered communication mechanism is designed to reduce the information interaction among agents with different dimensions.Under the proposed event-based communication mechanism,the problem of HMAS cross-dimensional formation control is transformed into the asymptotic stability problem of a closed-loop error system.Furthermore,several stability criteria for designing a cross-dimensional formation control protocol and communication schedule are presented in an environment where there is no information interaction among follower agents.Finally,a simulation case study is provided to validate the effectiveness of the proposed formation control protocol.
关键词
异构多智能体系统/编队控制/跨维度事件触发机制Key words
Heterogeneous multi-agent systems/Formation control/Cross-dimensional event-triggered mechanism引用本文复制引用
基金项目
National Natural Science Foundation of China(62173218)
International Cooperation Project of Shanghai Science and Technology Commission,China(21190780300)
出版年
2024
NETL
NSTL
万方数据