初始误差修正的多智能体一致性迭代学习控制 iterative learning control of multi-agent consensus with initial error correction.pdfVIP

Computer Engineering and Applications 计算机工程与应用 2014 ，50（1） 29 ⦾理论研究、研发设计⦾ 初始误差修正的多智能体一致性迭代学习控制 伍巧凤，刘 山 WU Qiaofeng, LIU Shan 浙江大学 控制科学与工程学系，杭州 310027 Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China WU Qiaofeng, LIU Shan. Iterative learning control of multi-agent consensus with initial error correction. Computer Engineering and Applications, 2014, 50 （1）：29-35. Abstract ：This paper considers a finite-time consensus problem for a distributed multi-agent system executing a given repetitive task. The virtual leader technology is introduced for the system with fixed topology. Under the condition of unknown initial states corresponding to the desired trajectory, a distributed learning control algorithm combined with initial state correction of every agent is proposed for the system with interference. The convergence analysis shows that the proposed algorithm can eliminate the tracking errors caused by the different initial states between every agent and the desired trajectory, and the perfect tracking control within the finite-time is available. Simulate results also prove the effectiveness of the proposed algorithm. Key words ：multi-agent system; distribute; finite-time; consensus; iterative learning control 摘 要：研究了重复运行的分布式多智能体系统在有限时间内的一致性问题。针对具有固定拓扑结构的多智能体 系统，在期望轨迹对应的初始状态未知，且系统存在干扰的情况下，引入虚拟领导者技术，提出了一种同时对各智能 体的输入和初始状态误差进行迭代修正的分布式学习控制算法。收敛性分析表明，该算法能够消除由于各智能体 初始状态和期望轨迹对应的初始状态不同而引起的各智能体输出不能完全跟踪期望轨迹的状况，实现系统在有限 时间内的完全跟踪；仿真结果也证明了算法的有效性。 关键词：多智能体系统；分布式；有限时间；一致性；迭代学习控制 文献标志码：A 中图分类号：TP273+.22 doi ：10.3778/j.issn. 1002-8331.1306-0224 [1- 15] 1 引言 能体系统的一致性问题已经有了大量的研究成果 。 多智能体系统是由多个可计算的智能体组成的集合， Vicsek[4] 等人首次提出了分布式智能体系统的一致性问 其中每个智能体是一个物理的或者抽象的实体，能作用于 题；Jadbabaie[5]粗略地证明了在分布式控制