Round-Robin协议下基于观测器的多智能体系统H∞一致性控制

Observer-based H∞-Consensus Control for Multi-agent Systems under Round-Robin Protocol

针对一类具有非线性动态特性的多智能体系统,研究Round-Robin (RR)通信协议下基于观测器的H∞一致性控制问题。在智能体与其邻居智能体之间的通信信道引入了Round-Robin通信协议,缓解信道拥堵带来的测量丢失、时延等问题。通过RR协议的调度,使得智能体在每一时刻确保能够接收到一个邻居智能体信息。首先,根据智能体的测量输出设计状态观测器,对每个智能体的状态进行估计,然后,根据估计状态设计一致性控制器,基于李雅普诺夫稳定性理论,给出多智能体系统满足H∞一致性性能指标的充分条件,进而通过求解线性矩阵不等式(LMI)获得观测器及控制器参数。最后,将本文设计的控制算法应用于数值仿真和柔性连杆机器人的一致性控制,验证所设计算法的可行性和有效性。

The observer-based H∞-consensus control problem is studied for multi-agent systems with nonlinear dynamics under the Round-Robin(RR) communication protocol. The Round-Robin protocol is implemented in the communication channels from one agent to the neighboring agents to alleviate the measurement loss, delay and other problems caused by channel congestions so that the agent can only receive the information from one neighbor agent at each time instant. First, the state observers are designed based on the measurement outputs to estimate the states of the agents. Then, consensus controllers are designed based on the estimates from the observers. By resorting to the Lyapunov stability theory, sufficient conditions are given such that the H∞-consensus performance index is guaranteed. The parameters of the observers and the controllers are then characterized by solving certain matrix inequalities. Finally, the proposed control algorithm is applied to numerical simulation and consensus control of the flexible link robot to verify the feasibility and effectiveness of the designed algorithm.