基于观测器的网络化多智能体预测控制
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北方工业大学

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TP273

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国家自然科学基金项目(面上项目,重点项目,重大项目)


Observer-based predictive control of networked multi-agent systems
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North China University of Technology

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    摘要:

    针对一类主从式异构线性网络化多智能体系统,本文考虑每个智能体的反馈通道和前向通道中存在随机网络诱导时延和数据包丢失问题,采用预测控制方法,提出一种基于观测器的网络化多智能体协同输出跟踪控制方案。在该方案中,主智能体在每一时刻基于自身滞后输出和系统参考信号,计算一组控制预测序列和输出预测序列,前者用以主动补偿主智能体控制回路中的随机网络诱导时延和数据包丢失,后者被发往从智能体;从智能体在每一时刻基于主智能体发送过来的输出预测序列和自身滞后输出,计算一组控制预测序列,用以主动补偿从智能体控制回路中的随机网络诱导时延和数据包丢失。随后推导了闭环网络化多智能体控制系统的稳定性,并实际实验验证了该方案的有效性和可行性。

    Abstract:

    For a class of leader-following heterogeneous linear networked multi-agent systems, random network-induced delays and packet dropouts in the feedback and forward channels of each agent are considered, and an observer-based networked multi-agent cooperative output tracking control scheme is proposed in this paper. In this scheme, the leader agent produces a control prediction sequence and an output prediction sequence based on its delayed output and the system reference signal at each time instant. The former is used to actively compensate for random network-induced delays and packet dropouts in the control loop of the leader agent, and the latter is sent to following agents. Each following agent generates a control prediction sequence at each time instant based on its delayed output and the output prediction sequence received, which is employed to actively compensate for random network-induced delays and packet dropouts in the control loop of the following agent. Then the stability of the closed-loop networked multi-agent control system is analyzed. Finally, the effectiveness and feasibility of the proposed scheme are verified by practical experiments.

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历史
  • 收稿日期:2019-12-24
  • 最后修改日期:2021-02-23
  • 录用日期:2020-03-18
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