端口受控哈密顿多智能体系统的输出一致性协议设计

李长生; 王玉振

doi:10.3724/SP.J.1004.2014.00415

端口受控哈密顿多智能体系统的输出一致性协议设计

doi: 10.3724/SP.J.1004.2014.00415

李长生^1,2, ,,
王玉振¹

1.
山东大学控制科学与工程学院济南 250061;
2.
泰山学院信息科学技术学院泰安 271021

基金项目:

Supported by National Nature Science Foundation of China (61074068, 60774009, 61034007), and the Research Fund for the Doctoral Program of Chinese Higher Education (200804220028)

详细信息

通讯作者:
李长生

计量
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- 被引次数: 0
出版历程
- 收稿日期: 2011-08-31
- 修回日期: 2013-10-08
- 刊出日期: 2014-03-20

Protocol Design for Output Consensus of Port-controlled Hamiltonian Multi-agent Systems

LI Chang-Sheng^{1,2
, ,},
WANG Yu-Zhen¹

1.
School of Control Science and Engineering, Shandong University, Jinan 250061, China;
2.
Department of Information Science and Technology, Taishan College, Taian 271021, China

Funds:

Supported by National Nature Science Foundation of China (61074068, 60774009, 61034007), and the Research Fund for the Doctoral Program of Chinese Higher Education (200804220028)

摘要

摘要: 研究了端口受控哈密顿（PCH）多智能体系统分别在固定和切换拓扑下的输出一致性问题. 首先根据哈密顿系统特有的优势，运用能量整形思路设计了一个全局稳定的群组输出一致性协议，该协议通过构造虚拟邻居的方式将有向图转化成无向图. 其次通过利用推广的LaSalle's不变原理将切换拓扑的问题转化成切换系统来研究. 例子证明，本文很好的解决端口受控哈密顿（PCH）多智能体系统的输出一致性问题.
- 控制设计 /
- 哈密顿系统 /
- 一致性 /
- 多智能体
Abstract: This paper investigates the output consensus problem of port-controlled Hamiltonian (PCH) multi-agent systems with both fixed and switching topologies. Firstly, a distributed group output consensus protocol is designed via the energy shaping method to reach globally stability and group output consensus. Secondly, a new distributed control protocol is proposed by using the structural properties of the PCH systems. The advantage of this protocol is that it can transform the directed graph to the undirected graph by constructing a kind of virtual neighbors. Thirdly, a control protocol is designed with the extended LaSalle0s invariance principle developed for switched systems under the jointly connected topology condition to make all the agents reach output consensus when the topology is switching. Finally, some illustrative examples with simulations are provided to demonstrate the effectiveness of the protocols designed in this paper.
- Control design /
- Hamiltonian systems /
- multi-agent /
- consensus

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