基于保证集的多智能体系统自触发控制

Guaranteed Set Based Self-Triggered Control of Multi-Agent Systems

为了解决网络化信息物理系统中分布式控制器的实时执行问题,在智能体状态可达集的基础上,提出了一种基于保证集的新的分布式自触发控制策略。在这一策略下,智能体向彼此发送关于它们自身可达状态的信息,即状态的保证集。这些保证集提供的信息使得每个智能体可以在未来自治地安排需要请求新信息的时刻,也为在较低的执行代价下仍能保证较好的性能水平奠定了基础。理论上证明了,在所提出的分布式策略下的李雅普诺夫函数是单调不增的。一个多智能体系统运动控制问题的仿真结果验证了所提方法正确性。

In order to address real-time manipulation of the networked cyber-physical systems in a distributed style,a new self-triggered strategy was suggested.Different from the already existed strategies,the guaranteed set was borrowed to join in,where agents could exchange information about their future reachable states.And moreover,the up-coming reachable states were collectively coined as guaranteed set.The available guaranteed set made it possible for the agents to autonomously schedule the instant requested information in the up-coming horizon.On account of that,the leveraged performance with lower cost,was turned into reality.At the same time,the Lyapunov function was built to verify the effectiveness of the suggested scheme,where the simulation results of a multi-agent system was also added in to keep the integrity of the touched upon idea.