随机多智能体系统一致性增益的设计与分析

Design and analysis of the consensus gain for stochastic multi-agent systems

中文关键词  多智能体系统  随机噪声  自适应控制  跟踪

英文关键词  multi-agent systems  stochastic noise  adaptive control  track

中文摘要

      本文研究有向图中通信网络含有加性随机噪声的多智能体跟踪控制. 当领导者节点在有向通信拓扑图中是全局可达的情况下, 结合所提出的完全分布式一致性控制协议,其中每个智能体的一致性增益自适应律仅依赖跟踪误差. 采用代数图论、自适应控制理论和随机理论工具得到2个结论: 1)跟踪误差以均方意义下收敛到0; 2)每个智能体的时变一致性增益趋于最优值. 最后通过仿真分析验证算法的有效性.

英文摘要

      This article addresses the tracking control for multi-agent systems with the additive stochastic noises on directed graph,When vertex of the leader is globally reachable on the digraph, combined with the proposed fully distributed consensus control protocol, where adaptive rate of the time-varying consensus gain only depends on the tracking error for each agent.By using algebraic graph theory, adaptive control theory and stochastic theory tools, two conclusions are obtained: 1)The tracking error converges to 0 in mean square; 2)The time-varying consensus gain of each agent tends to the optimal value. Finally, the effectiveness of the proposed algorithm are validated by a simulation example.