无速度多追踪的量化间歇控制

Multi-Tracking with Position Data via Quantization Intermittent Control

为研究二阶多智能体系统的多追踪问题,同时考虑通信时滞存在的情况,提出了一个仅采用相对位移信息的间歇控制协议。智能体的信息在传输之前,通过随机量化的方法进行量化。基于代数图理论、随机量化和稳定性理论,得到了实现多追踪的一些充分必要条件。为了克服通信带宽的限制,在信息传输前,采取随机量化的方案量化智能体的信息。因此,对于研究二阶多智能体系统的一致性问题来说,与连续数据相比,采样数据是更实际的来源。实例分析表明在所提出的控制协议下,被控系统能有效的追踪期望轨迹。

In order to study the multi-tracking problem of second-order multi-agent systems with communication delay.An inter⁃mittent control protocol is proposed by using the relative sampled position data in this paper.Through the method of stochastic quantization,the information of agents could be quantized.Based on algebraic graph theory,stochastic quantification and sta⁃bility theory,some necessary and sufficient conditions for realizing multi-tracking are obtained.In order to overcome the limita⁃tion of communication bandwidth,a random quantization scheme is adopted to quantize the information of the agent before the information is transmitted.Therefore,for studying the consistency problem of second-order multi-agent systems,sampling data is a more practical source than continuous data.The case study shows that the controlled systems can track the expected trajectory effectively,under the control protocol proposed in this paper.