基于观测器的分数阶多智能体系统正一致性

蔡宇航; 章伟; 胡陟; 张鹏宇

doi:10.12299/jsues.24-0023

基于观测器的分数阶多智能体系统正一致性

doi: 10.12299/jsues.24-0023

蔡宇航^a,,
章伟^b, ,,
胡陟^b,
张鹏宇^a

a.
上海工程技术大学, a. 机械与汽车工程学院; b. 机器人智能控制实验室, 上海 201620
b.
机器人智能控制实验室, 上海 201620

基金项目: 国家自然科学基金（62003207）

详细信息

作者简介:
蔡宇航（2000 − ），男，硕士生，研究方向为多智能体协同控制。E-mail：393339424@qq.com

通讯作者:
章　伟（1977 − ），男，教授，博士，研究方向为集群智能、多自主体协同控制、非线性状态估计。E-mail：wizzhang@foxmail.com

中图分类号: TP273
计量
- 文章访问数: 6
- HTML全文浏览量: 4
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2024-01-21
- 刊出日期: 2025-05-19

Observer-based positive consensus of fractional-order multiagent systems

CAI Yuhang^a
,,
ZHANG Wei^{b
, ,},
HU Zhi^b,
ZHANG Pengyu^a

a.
Shanghai University of Engineering Science, a. School of Mechanical and Automotive Engineering; b. Laboratory of Intelligent Control and Robotics, Shanghai 201620, China
b.
Laboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai 201620, China

摘要

摘要: 分数阶系统相比整数阶系统能够描述一些非典型、非线性的动态行为，更适合刻画具有记忆性的复杂控制系统。研究有向图上分数阶多智能体系统的正一致性问题。首先利用Luenberger观测器进行系统状态观测，基于正系统理论得到分数阶多智能体系统正一致性的一个充要条件。然后对该条件进一步优化，获得改进的拉普拉斯矩阵特征值的界，并利用有向网络节点数量，得到一个保守性较低的Riccati不等式型充分条件。接着通过求解代数Riccati不等式，给出求解基于观测器的分数阶多智能体系统正一致性的半定规划算法。最后通过数值仿真验证了所提出算法的有效性。
- 分数阶多智能体系统 /
- 观测器型协议 /
- 有向生成树 /
- 正一致性
Abstract: Compared with integer-order systems, fractional-order systems can better characterize atypical and nonlinear dynamic behaviors, and making them more suitable for describing complex control systems with memory. The observer-based positive consensus problem of fractional-order multiagent systems (FOMAS) was investigated. First, a Luenberger observer was employed to estimate the systems state. By leveraging positive system theory, a sufficient and necessary condition for the positive consensus of FOMAS was obtained. To reduce conservatism, this condition was further optimized through the bounds of improved Laplacian matrix eigenvalues. A less conservative sufficient condition of Riccati inequality type was then established, incorporating the number of nodes in the directed network. Subsequently, by solving the algebraic Riccati inequality, the positive consensus semidfinite programming algorithm for the observer-based FOMAS was presented. Finally, the validity of the obtained results was verified by numerical simulation.
- fractional-order multiagent systems (FOMAS) /
- observer-type protocol /
- directed spanning tree /
- positive consensus

HTML全文

图 1 有向节点网络

Figure 1. Directed node network

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图 2 多智能体的状态响应曲线

Figure 2. State variable response curves of multiple agent

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图 3 观测器的状态响应曲线

Figure 3. State variable response curves of observer

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图 4 观测器误差的响应曲线

Figure 4. Response curves of observer errors

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图 5 控制输入的响应曲线

Figure 5. Control input response curve

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