一致性归纳.ppt

重庆邮电大学---系统理论及应用研究中心? 提 纲 共同点：智能体的某个状态趋于相同(一致)。 一致性的定义：多智能体网络的每个节点按照某种控制规则（称为一致性协议或算法），相互传递信息相互作用，随着时间的演化，网络中的所有节点的状态趋于相同。 连续时间一致性协议 连续时间一致性协议（切换拓扑） Olfati-Saber and Murray, Consensus problems in networks of agents with switching topology and time-delays. IEEE TAC, 2004, 49(9): 1520-1533 [1] Yu-Ping Tian, Cheng-Lin Liu, “Consensus of multi-agent systems with diverse input and communication delays,” IEEE TAC , 2008. [2] Peng Lin, Yinming Jia, Lin Li, “Distributed robust H∞ consensus control in directed networks of agents with time-delay,” Systems Control Letters, 2008. 主要结果 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 有领航者的多智能体网络 主要结果 主要结果 联合连通网络 谢 谢！ 存在的问题 混合阶网络、时变网络、随机网络和高阶网络等的有限时间一致性 有时延、噪声等干扰及节点的通讯能力受限情形下的有限时间一致 性，及网络对时延、噪声等干扰的鲁棒性 采样系统和脉冲系统的有限时间一致性 有限时间一致性的收敛时间 分数阶系统的一致性问题 在能量受限条件下系统的一致性问题（量化、脉冲、采样、丢包等） 时间或事件驱动下系统的一致性问题 ...... 2013 Workshop on Distributed Cooperative Control of Multi-Agent Dynamic Systems July 22-23, 2013 Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automaiton Beijing Institute of Technology, Postgraduate Building, Room 101, Beijing, China Formation control of nonholonomic mobile robots: a challenge for distributed nonlinear control Zhongping Jiang (New York University, USA) New York University, USA Consider an interconnected system Assume that each subsystem is ISS, that is Then the interconnected system is ISS with if i.e., Input-to-state ststability (ISS) 有领航者 (leader) 的二阶多智能体网络 Followers: Leader: 渐近一致性 领航者的位置状态 领航者的速度状态 [4] Qiang Song, Jinde Cao, Wenwu Yu, Long Wang and Feng Xiao, Second-order leader-following consensus of nonlinear multi-agent systems via pinning control, Systems Control Letters 59 (2010) 553562. [5] Wei Zhu, Daizhan Cheng，Leader-following consensus of second-order agents with multiple time-varying delays，Automatica 46 (2010) 1994-1999. Followers: Leader: Protocol: 当leader是全局