
一类异构线性多智能体系统最优输出跟踪的分析与控制
OPTIMAL OUTPUT TRACKING ANAIYSIS AND CONTROL OF A HETERGENEOUS LINEAR MULTI-AGENT SYSTEMS
研究了一类异构线性多智能体系统的最优输出跟踪问题. 利用非零给定点调节器理论, 通过引入适当的性能指标函数, 得到了使所有智能体输出变量收敛到期望值的充分必要条件; 并指出当个体输出矩阵为单位阵时, 最优输出跟踪问题即转化为最优状态跟踪问题; 在此基础上, 将所得结果推广到了个体状态变量传输具有时滞的情形, 得到了问题可解的充要条件, 给出了时滞上界. 同时, 给出了系统实现动态输出跟踪的充分必要条件. 利用所得结果, 可以确定满足性能指标要求的信息交换拓扑和基于个体的控制器, 从而为实现最优输出/状态跟踪的异构多智能体系统的设计提供了工具. 仿真结果验证了所得结果的有效性.
This paper considers the optimal output tracking of a class of heterogeneous linear multi-agent systems. A suitable performance function is first introduced by employing the nonzero desired trajectory linear quadratic regulator theory. Then, the sufficient and necessary conditions is derived such that the output variables of all agents converge to the desired value. Further, it is noted that the optimal output tracking problem is equivalent to the optimal state tracking problem as the output matrices of all agents are taken as the identity matrix. On this basis, the obtained results are extended to the case where the state time-delay of each agent exists and the similar condition are also proposed. Meanwhile, the upper bound of time-delay is determined. Meanwhile, the sufficient and necessary conditions are presented for the considered systems to track a dynamic reference signal. The obtained results give a tool to design the information topology of a heterogeneous linear multi-agent system and its controller based on the individuals, by which the performance index function can be minimized. The results of simulation revealed the validity of the proposed method.
多智能体系统 / 最优一致性问题 / 输出/状态跟踪 / 非零给定点调节器 / 时滞. {{custom_keyword}} /
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