多智能体系统一致性问题的控制器与拓扑协同优化设计

Controller and topology co-optimization for consensus of multi-agent systems

中文关键词  多智能体系统  一致性  控制器优化  拓扑优化

英文关键词  multi-agent systems  consensus  controller optimization  topology optimization

中文摘要

      本文考虑多智能体系统一致性问题的控制与拓扑协同优化设计. 首先在给定的二次性能指标下, 对多智能体系统的分布式一致性控制协议寻优, 得到依赖于网络拓扑图拉普拉斯矩阵的最优控制器. 其次, 为进一步最大限度地减少拓扑之间的连边, 又不降低多智能体系统的收敛速度, 通过权衡系统的通信能量和控制能量, 寻求网络拓扑的优化设计, 给出了拓扑优化算法和多智能体系统特征值的优化方法. 最后, 仿真研究验证了在控制器优化的基础上进一步寻求拓扑优化, 可大大提升系统的一致性性能.

英文摘要

      In this paper, the co-optimization problem of controller and topology for consensus of multi-agent systems is investigated. Firstly, the distributed control protocol for consensus of multi-agent systems is optimized for the given quadratic performance index. The proposed optimal controller depends on the Laplace matrix of the topological graph. Secondly, in order to further reduce the edge of the topology, but not affect the convergence speed of multi-agent systems, the topology optimization algorithm and the eigenvalue optimization method for multi-agent systems are presented, which balances the communication energy and control energy of the systems. Finally, the simulation results show that the topology optimization along with the controller optimization is able to improve the system performance.