多智能体系统的时变约束一致性

Time-varying constrained consensus for multi-agent systems

中文关键词  分布式  多智能体系统  时变约束  一致性控制

英文关键词  distributed  multi-agent system  time-varying constraint  consensus control

中文摘要

      针对一阶离散时间分布式多智能体系统, 本文研究了其时变约束下的一致性问题. 利用投影算子, 建立了 多智能体系统的数学模型. 对于时变约束集存在交集的情形, 通过估计智能体的状态与交集中固定点的距离, 证明 了闭环系统可以实现一致性. 对于约束集存在极限集的情形, 利用约束集的几何性质, 证明了闭环系统可以实现一 致性. 最后, 通过数值仿真, 验证了所提一致性算法的有效性.

英文摘要

      This paper discusses the problem of consensus of a first-order multi-agent system under time-varying constraints. We employ projection operator to establish the mathematical model of the multi-agent system. For the case when the time-varying constraint sets have intersections, it is proved that the closed-loop system can achieve consensus by estimating the distance between the agents’ states and the fixed points in the intersection. For the case when the constraint sets have limit set, it is shown that the consensus can be achieved for the closed-loop system by utilizing the geometric properties of the constraint sets. Finally, by numerical simulations, the effectiveness of the proposed consensus algorithms is verified.