Markov切换拓扑下离散多智能体系统滑模一致性控制 |
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引用本文:曹洒,解静,赵阳.Markov切换拓扑下离散多智能体系统滑模一致性控制[J].计算技术与自动化,2024,(3):8-14 |
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中文摘要:针对具有Markov切换拓扑的离散多智能体系统,研究了其在滑模控制下的均方领导-跟随一致性问题。通过引入Markov切换拓扑,描述了智能体之间的随机信息交互。采用一致性误差定义了与随机切换拓扑相关的滑模面。根据理想准滑动模态条件得到了等效控制律,并将离散多智能体系统的一致性问题转化为领导-跟随误差系统的稳定性问题;利用Lyapunov函数的构造和矩阵理论最终给出了离散滑动模态均方领导-跟随一致性的充分条件,并给出了控制增益的设计方法。然后利用趋近律原理给出了一种离散时间滑模控制器,实现了跟随误差能够在有限时间内到达所定义的滑模面区域内。如何处理部分转移概率未知的Markov切换拓扑和设计与随机切换拓扑相关的滑模面是本文的两个难点。最后通过一个数值算例验证了所提方法的有效性。 |
中文关键词:离散多智能体系统 随机切换拓扑 Markov链 滑模控制 均方一致性 |
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Sliding Mode Consensus Control for Discrete time Multi agent Systems Under Markov Switching Topologies |
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Abstract:The mean square leader following consensus problem for discrete time multi agent systems with the Markovian switching topologies was studied by the sliding mode control. The Markovian switching topologies were introduced to describe the random information interaction between agents. The sliding mode surface with respect to the stochastic switching topologies was constructed utilizing the consensus error. An equivalent controller was obtained according to the ideal quasi sliding mode condition, and then the consensus problem of discrete time multi agent systems was transformed into the stability problem of leader following error systems. A sufficient condition of the mean square leader following consensus was obtained for discrete time sliding mode dynamics by the construction of Lyapunov function and the matrix theory, and the controller gains were designed. Then a discrete time sliding mode controller was derived by using the reaching law principle to ensure that the following errors reached the area of the giving sliding mode surface in a finite time. How to deal with the Markov switching topologies with unknown partial transition probabilities and the design of sliding surface associated with stochastic switching topologies are two difficulties. Finally, a numerical example was given to illustrate the feasibility of the proposed method. |
keywords:discrete time multi agent system stochastic switching topology Markov chain sliding mode control mean square consensus |
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