《计算机应用研究》|Application Research of Computers

通信时滞下事件驱动多智能体系统环形编队控制

Event driven circle formation control for multi-agent system with communication delay

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作者 何逻辑,谢广明,文家燕,罗文广
机构 1.广西科技大学 电气与信息工程学院,广西 柳州 545006;2.北京大学 工学院 湍流与复杂系统国家重点实验室,智能仿生设计实验室,北京 100871;3.北京大学海洋研究院,北京 100871
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文章编号 1001-3695(2020)06-011-1661-05
DOI 10.19734/j.issn.1001-3695.2018.11.0901
摘要 针对一阶具有通信时滞的多智能体系统环形编队存在通信和计算资源消耗大的问题,引入事件驱动控制机制,综合设计适用于任意环形编队的控制律分别耦合状态相关和状态无关两类事件驱动条件。事件触发函数基于状态误差建立,使得个体之间的信息通信和控制信号更新仅在事件触发时刻进行。从理论上严格证明了系统在控制律作用下的收敛性,并通过数值仿真验证了控制算法的有效性。仿真结果也表明,在获得系统期望性能的前提下,降低了控制器输入的更新频率和减少了智能体的资源消耗。
关键词 多智能体系统; 事件驱动; 通信时滞; 环形编队
基金项目 国家自然科学基金资助项目(6196020200,91648120,61633002,61563006)
广西自然科学基金面上项目(2018GXNSFAA294085,2018GXNSFAA050029)
广西高校工业过程智能控制技术重点实验室(IPICT-2016-04)资助项目
广西高校中青年教师基础能力提升项目(KY2016YB244)
本文URL http://www.arocmag.com/article/01-2020-06-011.html
英文标题 Event driven circle formation control for multi-agent system with communication delay
作者英文名 He Luoji, Xie Guangming, Wen Jiayan, Luo Wenguang
机构英文名 1.School of Electrical & Information Engineering,Guangxi University of Science & Technology,Liuzhou Guangxi 545006,China;2.State Key Laboratory of Turbulence & Complex Systems,Intelligent Biomimetic Design Lab,College of Engineering,Peking University,Beijing 100871,China;3.Peking University Institute of Ocean Research,Beijing 100871,China
英文摘要 In order to solve the problem that communication and computing resources are consumed in the first order multiagent system circle formation with communication delay, this paper introduced an event-driven control mechanism, and designed the control law for arbitrary circle formation, which was coupling with state dependent and state independent event-driven conditions. Event-triggered function was based on state error, made the information transmission between two neighbor agents and the controller updates driven by properly defined events. It proved the convergence of the control law strictly and theoretically, and the numerical simulation validated the effectiveness of control algorithm. The simulation results also show that the updating frequency of the controller and the resource consumption of the agent are reduced with the desired system performance.
英文关键词 multi-agent system; event driven; communication delay; circle formation
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收稿日期 2018/11/1
修回日期 2019/1/5
页码 1661-1665
中图分类号 TP18
文献标志码 A