随机多智能体系统的多率协同控制

Multi-Rate Cooperative Control of Stochastic Multi-Agent Systems

针对一类带有非线性动力学的随机多智能体系统研究了基于多率采样机制的一致性控制问题;引入多率采样机制异步地对智能体的状态进行采样,使用缓存器将不同时刻的采样数据进行存储以同步智能体不同分量的状态信息;提出了一种基于边的事件触发传输机制将每个智能体的状态信息定向传输给邻居智能体,从而减少通信资源的使用和控制器的更新频率;根据所设计的边事件触发传输机制设计了相应的控制协议使得随机多智能体系统可以实现均方一致性;因为每条边上的事件都是独立发生的,所以智能体的邻居之间不需要保证信息的时钟同步;根据所研究的系统给出了对应的数值仿真例子;通过将系统在同步采样机制、异步采样机制和多率采样机制下的状态响应轨迹进行比较,说明了所提出的边事件触发机制在多率采样机制下可以使得多智能体系统更好地实现一致性。

Aimed at a class of stochastic multi-agent system with nonlinear dynamics,a consensus control problem based on multi-rate sampling mechanism is studied.A multi-rate sampling mechanism is introduced to asynchronously sample the agent's state,and a buffer is used to store the sampled data at different times to synchronize the state information of different components of the agent.An edge-based event-triggered transmission mechanism is proposed to transmit the state information of each agent to its neighbors in a directional manner,thereby reducing the use of communication resources and update frequency of the controller.According to the designed edge-based event-triggered transmission mechanism,the corresponding control protocol is proposed to make the stochastic multi-agent system achieve the consistency of root mean square.Since the events on different edges occur independently of each other,there is no need for clock synchronization among neighbors.According to the studied system,a corresponding numerical simulation example is given.By comparing with the state response trajectories of the system under the synchronous sampling mechanism,asynchronous sampling mechanism and multi-rate sampling mechanism,the results show that the proposed edge-based event-triggered mechanism can achieve the consistency better under the multi-rate sampling mechanism.