| 具有控制器增益随机不确定性的多智能体一致性控制 |
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| 引用本文： | 陈军统,徐振华,项秉铜,倪洪杰,张丹.具有控制器增益随机不确定性的多智能体一致性控制[J].南京气象学院学报,2018,10(2):173-177. |
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| 作者姓名： | 陈军统 徐振华 项秉铜 倪洪杰 张丹 |
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| 作者单位： | 浙江工业大学 信息工程学院, 杭州, 310023;浙江科技学院 中德工程师学院, 杭州, 310023,浙江工业大学 信息工程学院, 杭州, 310023,浙江工业大学 信息工程学院, 杭州, 310023,浙江工业大学 信息工程学院, 杭州, 310023,浙江工业大学 信息工程学院, 杭州, 310023 |
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| 基金项目： | 国家自然科学基金（61403341）；浙江省重点研发计划（2017C03060） |
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| 摘 要： | 针对控制器存在随机不确定性的多智能体系统，研究了所有智能体状态达到一致的控制问题.首先，假设智能体连接网络拓扑是无向、固定和连通的，而且每个个体的控制器存在相同的随机不确定性，最终得到了融合随机控制器增益不确定的闭环控制系统模型.应用基于李雅普诺夫稳定性理论、线性矩阵不等式技术和鲁棒控制方法，得到了一种保证误差状态系统渐近稳定的充分条件.进一步通过一系列矩阵变换处理技巧，将状态反馈控制器的存在条件转化为一组线性矩阵不等式的可行解问题.最后应用计算机仿真验证了该控制器设计结果的有效性.
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| 关 键 词： | 多智能体 一致性 随机不确定性 离散时间系统 线性矩阵不等式 |
| 收稿时间： | 2017/12/31 0:00:00 |
Leader-follower consensus of multi-agent systems with stochastic uncertainty of controller gain |
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| CHEN Juntong,XU Zhenhu,XIANG Bingtong,NI Hongjie and ZHANG Dan.Leader-follower consensus of multi-agent systems with stochastic uncertainty of controller gain[J].Journal of Nanjing Institute of Meteorology,2018,10(2):173-177. |
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| Authors: | CHEN Juntong XU Zhenhu XIANG Bingtong NI Hongjie and ZHANG Dan |
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| Institution: | College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023;Chinese-German Institute of Engineering, Zhejiang University of Science and Technology, Hangzhou 310023,College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023,College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023,College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023 and College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023 |
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| Abstract: | This paper is concerned with the consensus of multi-agent systems with stochastic controller gain variation.Firstly, under the hypothesis that the connected network topology is fixed, undirected and linked, a closed-loop system is obtained that captures the stochastic controller gain variation.By using the Lyapunov stability theory, linear matrix inequality technique and robust control approach, a new sufficient condition is obtained such that consensus error dynamic system is asymptotically stable.Then, after some matrix manipulation, the controller gains are determined by solving a set of linear matrix inequalities.Finally, the effectiveness of the proposed design algorithm is verified by a numerical simulation. |
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| Keywords: | multi-agent system consensus stochastic uncertainty discrete-time system linear matrix inequalities |
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