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研究有强连通子图拓扑结构的有向多智能体系统领导者选择及可控包含控制问题.根据网络拓扑结构,智能体被分为两类:单元智能体和一般智能体.首先设计强连通子图中个体组成的单元智能体的一致性协议实现各个单元的一致;后由单元智能体和一般智能体构成新的拓扑结构,结合复杂网络可控性理论与二分图最大匹配算法确定满足网络可控的最少领导者集合,并为所有智能个体设计相应的控制协议,驱使跟随者渐近收敛到多个领导者组成的动态凸包中,从而实现网络的可控包含控制.仿真结果验证了理论分析的正确性. 相似文献
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首次针对二阶多智能体系统提出广义一致性的概念;然后探讨有向网络拓扑结构下的二阶多智能体系统的线性广义一致性问题.通过设计有效的控制协议,使用代数图论和稳定性理论,推导获得二阶的多智能体系统以及带有通信延迟的二阶系统实现线性广义一致性的充分且必要条件.结果表明,在有向网络中,耦合增益参数和拉普拉斯矩阵的特征值对达到广义一致起着关键作用;最后,数值仿真验证了结果的正确性. 相似文献
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本文考虑具有一般线性时不变动态特性的多智能体系统优化控制问题. 将智能体之间的通讯拓扑结构建模成具有自环的无向多图, 每个子系统就是一个节点, 每个节点的控制行为只与本身及邻居节点有关. 由于反馈矩阵具有块对角结构约束, 本文研究的LQR控制问题本质上是一类结构优化问题. 最小化系统LQR性能指标等价于最小化单个智能体性能指标和. 基于线性矩阵不等式得到系统的次优性能指标, 指出LQR性能域是凸集. 由此多智能体系统的LQR控制转化为若干个子系统的LQR控制, 可以通过求解系数是Laplacian矩阵最小最大特征值的两个矩阵不等式得到反馈增益. 数值例子验证了方法的有效性. 相似文献
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针对一类含时变通讯时延的多智能体系统,基于时滞依赖法提出了其在有向网络拓扑下的一类包容控制器设计的方法,该设计能有效地驱使多智能体系统中所有跟随者的状态渐近一致地收敛到领导者运动过程中形成的几何凸包.结合李亚普诺夫稳定性理论和线性矩阵不等式(LMI)方法,推导了多智能体系统包容控制率存在的充分条件,并将包容控制器的设计最终转化成求解线性矩阵不等式可行解的问题.结果表明,该方法对多智能体系统中的时变通讯时延具有良好的补偿效果.最后通过仿真算例验证了此方法的有效性和可行性. 相似文献
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本文对有向图下离散时间一阶二阶混合的异构多智能体系统广义平均一致性问题进行研究.首先给出了该异构系统广义平均一致性的基本概念.在此基础上,针对平均一致性研究中对交互拓扑为平衡网络的局限,提出了一种基于辅助变量的线性一致性协议,对每一个智能体增加一个辅助变量,用于记录个体的状态更新.采用图论、非负矩阵理论、特征值扰动等方法进行分析证明,表明该协议使得异构多智能体系统在任意强连通有向图下达到广义平均一致性.并对收敛值的性质进行了分析.最后,通过仿真对该结论进行了验证. 相似文献
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For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, the controllability of multi-agent systems under directed topologies is studied, especially on the leader selection problem and the weight adjustment problem. For a multi-agent system, necessary and sufficient algebraic conditions for controllability with fewest leaders are proposed. To improve controllability by adjusting edge weights, the system is supposed to be structurally controllable, which holds if and only if the communication topology contains a spanning tree. It is also proved that the number of the fewest edges needed to be assigned on new weights equals the rank deficiency of controllability matrix. In addition, a leader selection algorithm and a weight adjustment algorithm are presented. Simulation examples are provided to illustrate the theoretical results. 相似文献
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In this paper, the formation control problem of the network of multiple agents is studied in terms of controllability, where the network is of the leader–follower structure with some agents taking leaders role and others being followers interconnected via the neighbor-based rule. It is shown that the controllability of a multi-agent system can be uniquely determined by the topology structure of interconnection graph, for which the investigation comes down to that for a multi-agent system with the interconnection graph being connected. Based on these observations, two kinds of uncontrollable interconnection topologies are characterized, and a necessary and sufficient eigenvector-based condition is presented. Our studies also touch upon the selection of leaders. 相似文献
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In this article, the controllability issue is addressed for an interconnected system of multiple agents. The network associated with the system is of the leader–follower structure with some agents taking leader role and others being followers interconnected via the neighbour-based rule. Sufficient conditions are derived for the controllability of multi-agent systems with time-delay in state, as well as a graph-based uncontrollability topology structure is revealed. Both single and double integrator dynamics are considered. For switching topology, two algebraic necessary and sufficient conditions are derived for the controllability of multi-agent systems. Several examples are also presented to illustrate how to control the system to shape into the desired configurations. 相似文献
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This paper considers the controllability problem for both continuous- and discrete-time linear heterogeneous multi-agent systems with directed and weighted communication topology. First, two kinds of neighbour-based control protocols based on the distributed protocol of first-order and second-order multi-agent systems are proposed, under which it is shown that a heterogeneous multi-agent system is controllable if the underlying communication topology is controllable. Then, under special leader selection, the result shows that the controllability of a heterogeneous multi-agent system is solely decided by its communication topology graph. Furthermore, some necessary and/or sufficient conditions are derived for controllability of communication topology from algebraic and graphical perspectives. Finally, simulation examples are presented to demonstrate the effectiveness of the theoretical results. 相似文献
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Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems 总被引:3,自引:0,他引:3
This paper studies some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems. First, basic theoretical analysis is carried out for the case where for each agent the second-order dynamics are governed by the position and velocity terms and the asymptotic velocity is constant. A necessary and sufficient condition is given to ensure second-order consensus and it is found that both the real and imaginary parts of the eigenvalues of the Laplacian matrix of the corresponding network play key roles in reaching consensus. Based on this result, a second-order consensus algorithm is derived for the multi-agent system facing communication delays. A necessary and sufficient condition is provided, which shows that consensus can be achieved in a multi-agent system whose network topology contains a directed spanning tree if and only if the time delay is less than a critical value. Finally, simulation examples are given to verify the theoretical analysis. 相似文献
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This paper investigates the controllability of first-order and second-order discrete-time multi-agent systems with directed topology and input delay. The problem is studied in the leader–follower framework where a number of agents are selected to be leaders and serve as control inputs to all other agents. Sufficient and necessary conditions are derived for the controllability of first-order discrete-time multi-agent systems. With sampling period and feedback gain satisfying certain conditions, it is proved under three different protocols that the controllability of second-order discrete-time multi-agent systems is equivalent to that of a pair of submatrices of Laplacian matrix. In addition, the controllability of both first-order and second-order discrete-time multi-agent systems with input delay is shown, through some transformations, to be equivalent to that of the transformed non-delayed systems. Finally, some simulation examples are given to illustrate the theoretical results. 相似文献
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Bo Liu Tianguang Chu Long Wang Guangming Xie 《Automatic Control, IEEE Transactions on》2008,53(4):1009-1013
This note studies the controllability of a leader-follower network of dynamic agents linked via neighbor rules. The leader is a particular agent acting as an external input to steer the other member agents. Based on switched control system theory, we derive a simple controllability condition for the network with switching topology, which indicates that the controllability of the whole network does not need to rely on that of the network for every specific topology. This merit provides convenience and flexibility in design and application of multiagent networks. For the fixed topology case, we show that the network is uncontrollable whenever the leader has an unbiased action on every member, regardless of the connectivity of the members themselves. This gives new insight into the relation between the controllability and the connectivity of the leader-follower network. We also give a formula for formation control of the network. 相似文献
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符号网络是一类具有正负符号特征的网络.在多智能体系统中,符号网络能够描述智能体之间的合作与对抗交互关系,因此受到学者的广泛关注.本文主要研究有向符号网络的边能控性.首先,对具有符号网络的多智能体系统边动力学进行建模,得到边能控性模型.其次,从网络拓扑结构角度对边能控子空间进行定量刻画,利用有向符号网络的距离和等价划分得到能控子空间的上下界估计.进一步,讨论了符号网络边能控性与顶点能控性的关系.所得结果表明:当顶点符号图为结构非平衡时,符号网络的边能控性与顶点能控性等价.最后,通过仿真结果验证所得理论的有效性. 相似文献