不确定多智能体系统的鲁棒量化一致性研究

Research on robust quantized consensusof multi-agent systems with uncertainties

采用滑模控制设计方法考虑了多智能体系统的鲁棒量化一致性问题。将多智能体系统的滑模面设计由考虑匹配不确定的情形推广到同时带有匹配和不匹配不确定性的情形,并采用线性矩阵不等式技术给出滑模面参数的求解方法。针对数字通信通道编解码的特点,充分考虑了量化参数不匹配和外部干扰等多种不利因素的影响,提出一种新的滑模到达控制律确保闭环系统能在有限时间到达设计的滑模面,实现量化一致性的目标。经计算机仿真实验比较验证了本设计方法的有效性。

Based on slidingmode control design approach,the robust quantized consensus problem of multi-agent systems are investigated in this paper.Firstly,the design of the sliding surface of the multi-agent systems with matched/mismatcheduncertainties are studied,and the surface parameters are solved by utilization of linear matrix inequality techniques.This is a more general result compared with the existing sliding surface design of the multi-agent systems with matched uncertainty.Secondly,according to the coding and decoding characteristics of the digital communication channel,the impacts of quantization parameter mismatch and external disturbances are fully considered,and a novel sliding mode reaching control law is proposed in this paper,which guarantees the designed sliding surface can be reached in finite time and the goal of quantized consensus is achieved.Finally,the effectiveness of the proposed method is verified via simulation comparison.