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| Distributed data-driven consensus control ofmulti-agent systems under switched uncertainties |
| WenjieLiu1,2,YifeiLi1,2,GangWang1,2,JianSun1,2,JieChen1,3 |
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| (1 National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China
2 Beijing Institute of Technology Chongqing Innovation Center, Chongqing 401120, China;3 Department of Control Science and Engineering, Tongji University, Shanghai 201804, China) |
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| 摘要: |
| Cooperative control of multi-agent systems (MASs), particularly consensus control, has gained significant attention in the last
two decades, thanks to the rapid and sustained development of distributed and networked systems. In this paper, we present
some new results focused on consensus control of a set of unknown linear MASs (whose system matrices are unknown) under
unknown switched uncertainties, with an emphasis on distributed data-driven controllers. The proposed controller is end-toend,
designed by solving two data-based semi-definite programs (SDPs), which adjust to the changes of the uncertainty modes.
Our approach achieves asymptotic consensus of the MAS provided that the switching is slow enough and the uncertainty is
small. We illustrate the effectiveness of our proposed method through a numerical example. |
| 关键词: Data-driven control · Multi-agent systems · Consensus · Switched uncertainties |
| DOI：https://doi.org/10.1007/s11768-023-00165-8 |
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| 基金项目:The work was supported in part by the National Natural Science Foundation of China under Grants 61925303, 62173034, 62088101, the China Scholarship Council under Grant 202206030127, and the BIT Research and Innovation Promoting Project under Grant 2022YCXZ007. |
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| Distributed data-driven consensus control ofmulti-agent systems under switched uncertainties |
| Wenjie Liu1,2,Yifei Li1,2,Gang Wang1,2,Jian Sun1,2,Jie Chen1,3 |
| (1 National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing Institute of Technology, Beijing 100081, China
2 Beijing Institute of Technology Chongqing Innovation Center, Chongqing 401120, China;3 Department of Control Science and Engineering, Tongji University, Shanghai 201804, China) |
| Abstract: |
| Cooperative control of multi-agent systems (MASs), particularly consensus control, has gained significant attention in the last
two decades, thanks to the rapid and sustained development of distributed and networked systems. In this paper, we present
some new results focused on consensus control of a set of unknown linear MASs (whose system matrices are unknown) under
unknown switched uncertainties, with an emphasis on distributed data-driven controllers. The proposed controller is end-toend,
designed by solving two data-based semi-definite programs (SDPs), which adjust to the changes of the uncertainty modes.
Our approach achieves asymptotic consensus of the MAS provided that the switching is slow enough and the uncertainty is
small. We illustrate the effectiveness of our proposed method through a numerical example. |
| Key words: Data-driven control · Multi-agent systems · Consensus · Switched uncertainties |
