离散时间下广义多智能体系统基于观测器的分布式一致协议

CONSENSUS OF DISCRETE-TIME DESCRIPTOR MULTI-AGENT SYSTEMS VIA DISTRIBUTED OBSERVER-BASED PROTOCOLS

研究了离散时间广义多智能体系统的容许性一致问题,并设计了基于观测器的分布式控制协议.假设每个智能体的动力学模型为离散时间的广义线性系统,智能体间的通讯拓扑结构为固定的有向图.在假设智能体的状态信息不能被直接利用的情况下,设计了基于观测器的一致协议,观测器的动力学模型是建立在正常线性系统之上,而不是广义系统.根据改进后的广义Riccati方程以及李亚普诺夫容许性定理,得到了容许一致的充分性条件.在文章所提供的设计方案下,基于全维或降维观测器的一致性协议可以通过解一些特殊条件获得,因此文章所提供的设计协议具有更强的包容性.最后提供了数值模拟仿真,验证了文章结论的正确性.

This paper considers the admissible consensus problem of discrete-time descriptor multi-agent systems with distributed observer-based control protocols. The dynamics of the agents is assumed to be discrete-time linear descriptor systems, and the interaction topology is assumed to be fixed and directed. By assumption that the agent＇s states can not be available directly, a dynamical state-observer modeled by a normal liner system is adopted by each agent, by which the related consensus protocols are constructed. Based on the modified generalized discrete-time Riccati equation and Lyapunov admissible theory, a sufi3cient admissible consensus condition is established. Our design approach provides a general framework, which includes the full-order and reduced-order observer-based consensus design methods. Some full-order and reduced-order observer-based consensus protocols can be obtained by solving the established conditions. Finally, a simple simulation example is provided to illustrate our established result.